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

摘要

A new kind of micro-manipulator for robot is proposed in this paper. The robot is driven by magnetic force of electric magnet. At 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.