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

微操作器通常用于医疗、生物、电子学、微装配和光学等领域的微米级物体的操作。传统的丝杠、齿轮或电机类型的微操作器有许多缺点，如由于运动机械部件的摩擦而引起的粘滞、间隙和迟滞。磁悬浮技术是一种很有前途的微操作技术，由于它不包含运动部件和连接部件，完全消除了摩擦引起的磨损和维护问题，确保了无尘运行，即清洁技术。提出的研究计划旨在开发一种使用磁悬浮机器人微操作器的新型微操作技术，以克服传统微操作器的这些局限性。该系统只使用单轴电磁驱动器，通过调节产生的磁场，实现物体在大磁隙中的三维运动。三维运动中的磁场耦合效应是精密微操作的主要问题。将设计和应用先进的解耦控制算法来增强微机器人在水平面上的运动控制。还将实现利用悬浮微机器人和丝杠微操作器进行微平移和微装配的亚微米力控协同操作。与传统微操作器相比，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作对象的作用力是柔顺的，可以防止对脆弱对象的损坏。 拟议研究计划的以下方面是新的：a)将开发一种用于微操作的新型大间隙磁悬浮设备和技术；b)将测试一种独特的传感器切换3D运动控制方法，以解决光束或相机视觉受阻的问题；c)将引入基于磁通的创新接触力确定；d)将首次使用磁悬浮微机器人和丝杠微操作手实现内力控制的协同操作。 这项研究计划将导致发明一种新的微操作技术，作为一个长期目标。共有11名高素质人员(3名博士，2名硕士，6名本科生研究助理和合作学生)将在这一发现研究计划的课程中接受培训。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。他们进入劳动力大军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.