2.5 DOF optically controlled levitating diamagnetic actuator

Abstract

This paper presents a contactless motion control system for a diamagnetically levitating actuator, addressing the challenge of achieving precise multi Degree of Freedom (DOF) control without onboard electronics or mechanical contact. The actuator uses a laser source and MEMS mirror to wirelessly control a Pyrolytic Graphite Sheet (PGS) levitating above a multi-resolution platform composed of non-homogeneous Permanent Magnet (PM) arrays with step sizes of 3 mm, 6 mm, and 12 mm. This configuration enables both fast and high-resolution planar motion, as well as controllable rotation above the 3 mm array, effectively creating a 2.5-DOF actuator. Experimental validation includes classification of motion types and a full trajectory execution across all motion modes, achieving an average velocity of 13 mm/s. The system achieves a transportable mass of 50.7 mg and an RMS error of 0 . 42 μ m , demonstrating high precision and reliability. The actuator offers a compact, untethered, and sensorless solution for precision actuation in micro-manipulation, robotics, and scalable contact-free transport. • Contactless control of a levitating actuator using laser-induced motion. • Multi-resolution movement enabled by magnets of varying size and spacing. • Optical heating enables both precise translation and controlled rotation. • New actuation platform combining speed, precision, and full wireless control. • Laser-steered diamagnetic motion without sensors or mechanical contact.