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

微操作器通常用于在诸如医学、生物学、电子学、微装配和光学的各种领域中操作微米尺寸的物体。传统的丝杠，齿轮，或电机类型的微操作器有许多缺点，如侵入的静摩擦，反冲，和滞后由于运动的机械部件的摩擦。磁悬浮是一种很有前途的技术，可以应用于微操作，并且由于它不包含移动和接合部件，因此完全消除了摩擦引起的磨损和维护问题，并确保了无尘操作，即，清洁技术。拟议的研究计划旨在开发一种新的微操作技术，使用磁悬浮机器人微操作器，以克服这些传统的微操作器的局限性。该系统仅采用单轴电磁作动器，通过调节产生的磁场，实现物体在大磁隙中的三维运动。三维运动中磁场的耦合效应是精密微操作的一个主要问题。先进的解耦控制算法将被设计和应用，以加强微机器人在水平面内的运动控制。亚微米力控制的协同操作使用悬浮microrobot在音乐会与丝杠微操作器的微平移和微组装也将实现。使用悬浮机器人进行协作操作的主要优点是，悬浮机器人对被操纵物体的力是顺应性的，这可以防止对精细物体的损坏。以下是拟议的研究计划的新方面：a）将开发一种新的大间隙磁悬浮装置和技术用于微操作; B）将测试一种独特的传感器切换3D运动控制方法，以解决光束或摄像机视觉障碍的问题; c）将引入一种创新的基于磁通量的接触力确定方法; d）首次使用磁悬浮微机器人和丝杠微操作器实现内力控制的协同操作。*这项研究计划将导致一个新的显微操作技术的发明作为一个长期目标。共有11名高素质的人员（3名博士，2名硕士和6名本科研究助理和合作学生）将在本发现研究计划的过程中接受培训。这些学生将熟练掌握机电一体化，机器人，系统集成和自动化领域的最先进的分析和实验技术。他们的加入将有助于加拿大汽车、电子、软件和制造业技术部门的增长和进步。

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.********