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

通过大间隙磁悬浮和板外力测定的新型微操纵技术

• 批准号: RGPIN-2016-04160
• 负责人: Khamesee, MirBehrad
• 金额: $ 2.77万
• 依托单位: University of Waterloo
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 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=614882
• 关键词: New; Micromanipulation; Technologies; via; Large

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.

微型操纵器通常用于操纵微米大小的物体，例如医学，生物学，电子，微型组装和光学。常规的铅螺栓，齿轮或运动型微型操纵器具有许多缺点，例如由于移动机械零件的摩擦而导致的陈述，反弹和磁滞。磁性悬浮是一种有前途的技术，可用于微观渗透，并且由于它不包含移动和连接的零件，因此完全消除了由摩擦引起的磨损和维护问题，并确保了无尘的操作，即清洁技术。拟议的研究计划旨在使用磁性机器人微型手持剂开发一种新型的微观计量技术，以克服这些传统微型手持剂的局限性。该系统仅使用单轴电磁执行器，并且通过调节产生的磁场，将实现大磁性间隙中物体的3D运动。磁场在3D运动中的耦合效应是精确微观计算的主要问题。将设计和应用高级的Decouple控制算法，以增强水平平面中微型机器人的运动控制。还将实现使用悬浮的微型固定机器人进行微晶管和微型材料的悬浮微型机器人进行悬浮的合作操作。使用悬浮机器人进行协作操作而不是传统微型手持剂的主要优点是，悬浮机器人在操纵物体上的力是合规的，这可以防止对细腻的物体损坏。 以下是拟议的研究计划的新方面：a）将开发出一种新型的大间隙磁性悬浮设备和技术来进行微观渗透； b）将测试传感器切换3D运动控制的独特方法，以解决光束或相机视觉阻塞的问题； c）将引入基于创新的磁通液的接触力确定； d）首次使用磁性悬浮的微型机器人和铅螺丝微操纵器，将首次实现内力控制的协作操作。 该研究计划将导致一项新的微观计量技术作为长期目标。在这项发现研究计划的过程中，将对11名高素质的人员（3博士学位，2名MASC和6名本科研究助理和合作社学生）进行培训。这些学生将在机器人，机器人技术，系统集成和自动化领域的最先进的分析和实验技术方面熟练。他们进入劳动力将有助于汽车，电子，软件和制造业的加拿大技术领域的发展和发展。