Design and control of a magnetic levitation robotic platform for flexible manufacturing

柔性制造磁悬浮机器人平台的设计与控制

• 批准号: 500976-2016
• 负责人: Khamesee, MirBehrad
• 金额: $ 1.89万
• 依托单位: University of Waterloo
• 依托单位国家: 加拿大
• 项目类别: Collaborative Research and Development Grants
• 财政年份: 2016
• 资助国家: 加拿大
• 起止时间: 2016-01-01 至 2017-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=608396
• 关键词: Design; control; magnetic; levitation; robotic

Recent developments in the field of linear-motor systems have led to renewed interest in precise and rapid material handling/positioning in manufacturing facilities. Most of such devices are yet limited to a single-axis (or one degree of freedom, 1-DOF) motion. This research proposal aims at the development of a revolutionary magnetic levitation floor platform (MLFP) for flexible manufacturing applications, aiming to eliminate conventional conveyer mechanism and maximize the factory space usage. The floor uses an array electromagnetic actuators which can levitate and move five robots simultaneously with 2-DOF for rapid work distribution in manufacturing facilities. Conventional manufacturing and production lines consist of several work stations (drilling, milling, lathes, etc.) and motorized multiple conveyers will be used to circulate a workpieces among those workstations to be machined or assembled. These fixed manufacturing/production lines should be totally rearranged if a different product is introduced into the line. Rearrangement of these fixed production lines are costly and time consuming. The development of a novel reconfigurable production line, in the form of the proposed MLFP, will have significant advantages. MagLev technology will allow physical contact, friction and noise to be minimized. Eliminating the need for traditional contact-based stiffness transfer mechanisms (timing belts, sprockets and gearboxes) will also provide for a significantly longer operational lifetime, with fewer maintenance issues. The proposed research will be carried out in the following steps: 1) Design the electromagnetic actuator to generate sufficient magnetic force for robots' magnetic levitation; 2) Develop a magnetic levitation platform using optimized energy/heat electromagnetic actuator; 3) Develop control system to realize the robot motions and evaluate the performance. There is a very significant global market for MLFP such as in cleanroom material transportation, electronic industry, and pharmaceutical industry. HQP including one PhD and one Master's students and two fourth-year students will be trained in a number of key areas, including mechatronics, systems design, prototyping, and manufacturing.

线性运动系统领域的最新发展导致对制造设施中精确和快速材料处理/定位的兴趣重新引起了人们的兴趣。大多数此类设备尚未仅限于单轴（或一个自由度，1-DOF）运动。该研究建议旨在开发用于柔性制造应用的革命性磁性悬浮地板平台（MLFP），旨在消除常规传送机制并最大程度地利用工厂空间。地板使用阵列电磁执行器，可以同时悬浮并移动五个机器人，以便在制造设施中快速工作。传统的制造和生产线由几个工作站（钻孔，铣削，车床等）组成，并将使用电动多个输送机在这些工作站中循环或组装。如果将不同的产品引入生产线，则应完全重新安排这些固定的制造/生产线。这些固定生产线的重排是昂贵且耗时的。以拟议的MLFP的形式发展了新型可重构生产线的发展将具有显着优势。 Maglev技术将使身体接触，摩擦和噪声最小化。消除对传统的基于接触的刚度转移机制（时机，链轮和变速箱）的需求也将提供更长的操作寿命，并且维护问题较少。拟议的研究将在以下步骤中进行：1）设计电磁执行器以为机器人的磁性悬浮产生足够的磁力； 2）使用优化的能量/热电磁执行器开发磁性悬浮平台； 3）开发控制系统以实现机器人运动并评估性能。 MLFP的全球市场非常重要，例如在洁净室材料运输，电子工业和制药行业。 HQP包括一名博士学位和一名硕士学生和两名四年级学生，将在许多关键领域进行培训，包括机电一体化，系统设计，原型制造和制造业。