Research of inarticulate micro-manipulator robot driven by magnetic levitation force

被引：0
|
作者：
Zhang, T [1 ]
Li, L [1 ]
Xie, CX [1 ]
机构：
[1] S China Univ Technol Guangzhou, Mech Engn Coll, Guangdong, Peoples R China
来源：
2004 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN & CYBERNETICS, VOLS 1-7 | 2004年
关键词：
robot; micro-manipulator; magnetic levitation;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A new kind of micro-manipulator robot is proposed in this paper. The robot is driven by magnetic force of electric magnet. A I first, the structure and principle of this single degree of freedom micro-manipulator robot is discussed Then, structure and principle of the micromanipulator robot is researched in detail. The manipulator is levitated between twelve electric magnets, so the robot is inarticulate robot. The construction of the robot is simple, easy manipulated and high precision. And the control system of the robot is studied, includes hardware of the control system and fuzzy cerebella model articulation controller (FCMAC) control system. The hardware of the Control system mainly includes DSP, computer and power amplifier circuit and displacement sensors. Lastly, the characteristics experiment of the robot is finished. The result shows the magnetic levitation force is suitable for the micro-manipulator robot driven source.
引用
收藏
页码：5221 / 5226
页数：6
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