New Micromanipulation Technologies via Large-Gap Magnetic Levitation and Off-Board Force Determination

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Micromanipulators are commonly used for manipulation of micrometer sized objects in various fields such as medical, biology, electronics, microassembly, and optics. Conventional leadscrew, gear, or motor type micromanipulators have many disadvantages, such as the incursion of stiction, backlash, and hysteresis due to the friction of moving mechanical parts. Magnetic levitation is a promising technology that can be applied for micromanipulation, and since it does not contain moving and jointed parts, wear and maintenance problems caused by friction are completely eliminated, and dust-free operation is ensured, i.e., a clean technology. The proposed research program aims to develop a novel micromanipulation technology using magnetically levitated robotic micromanipulators to overcome these limitations of conventional micromanipulators. The system uses only single-axis electromagnetic actuators, and by regulation of produced magnetic fields, the 3D motion of objects in a large magnetic gap will be realized. The coupling effect of magnetic fields in 3D motion is a major issue for precision micromanipulation. Advanced decouple control algorithms will be designed and applied to enhance the motion control of the microrobot in horizontal planes. Submicron force-controlled collaborative manipulation using a levitated microrobot in concert with a leadscrew micromanipulator for microtranslation and microassembly will also be realized. The main advantage of using a levitation robot for collaborative manipulation over conventional micromanipulators is that the force of a levitation robot on the manipulated object is compliant, which can prevent damage to delicate objects. The following are novel aspects of the proposed research program: a) A novel large-gap magnetic levitation apparatus and technique will be developed for micromanipulation; b) A unique approach to sensor switching 3D motion control will be tested to solve the problem of optical beam or camera vision blockage; c) An innovative magnetic-flux-based contact force determination will be introduced; d) For the first time, internal force-controlled collaborative manipulation will be realized using a magnetically levitated microrobot and a leadscrew micromanipulator. This research program will lead to the invention of a new micromanipulation technology as a long term goal. A total of eleven highly qualified personnel (3 PhD, 2 MASc, and 6 undergraduate research assistant and co-op students) will be trained over the course of this Discovery research program. These students will become skilled in state-of-the-art analytical and experimental techniques within the fields of mechatronics, robotics, systems integration, and automation. Their entry into the workforce will contribute to the growth and advancement of the Canadian technology sectors in automotive, electronics, software, and manufacturing industries.