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Noncontact Manipulation of Objects Using Magnets

Research Project

Project/Area Number 05452171
Research Category

Grant-in-Aid for General Scientific Research (B)

Allocation TypeSingle-year Grants
Research Field Intelligent mechanics/Mechanical systems
Research InstitutionMIE UNIVERTSITY

Principal Investigator

NAKAMURA Tatsuya  Mie Univ, faculry of eng, professor, 工学部, 教授 (10242926)

Project Period (FY) 1993 – 1994
Project Status Completed (Fiscal Year 1994)
Budget Amount *help
¥6,400,000 (Direct Cost: ¥6,400,000)
Fiscal Year 1994: ¥3,200,000 (Direct Cost: ¥3,200,000)
Fiscal Year 1993: ¥3,200,000 (Direct Cost: ¥3,200,000)
Keywordsmagnetic actuator / magnetic levitation / noncontact manipulation / micromachine / manipulation / robot
Research Abstract

Noncontact manipulation technologies are important especially in micromachine applications because of their small working spaces. This research aims at development of mechanism, control andmeasurement for magnetically levitated movement of small objects in a larger space compared with an object size
First, we propose a new magnetic mechanism for levitated movement of a small magnet in a 2 dimensional vertical space. This mechanism consists of two electromagnets, a permanent magnet for gravity compensation and a yoke. A common polepiece connecting two electromagnets is essential for producing strong vertical forces in a wide range. Horizontal and vertical positions of the small magnet are determined by the ratio and the sum of the two electromagnet currents, respectively. A prototype is constructed and used to verify the effectiveness of the mechanism expermentally.
Second, the above principle is extended to a 3 dimensional case. A prototype, which consists of four electromagnets, a perma … More nent magnet for gravity compensation and a yoke, is constructed. Several types of polepiece are tested experimentally and its design conditions are investigated.
Third, a mechanism for levitated movement of a nonmagnetic metal is considered. It is known that an alternating magnetic field produces a repulsive force to nonmagnetic metals. The possibility of the use of this method is tested by constructing a testbed and its design conditions are investigated.
Finally, the use of ultrasonic sensors for measurement in magnetic levitation is investigated, while laser sensors are used in the experiments above. Ultrasonic sensors are cost effective and useful for measurement in complicated environments such as inside human bodies. However, they have never been used in magnetic levitation because of their low resolution. It is show nexperimentally that magnetic levitation with ultrasonic sensors is made possible by Kalman filters.
In conclusion, basic technologies for magnetically levitated movement of small objects are established. The result of this research will be extended to micromachines with several machine parts. Less

Report

(3 results)
  • 1994 Annual Research Report   Final Research Report Summary
  • 1993 Annual Research Report
  • Research Products

    (12 results)

All Other

All Publications (12 results)

  • [Publications] 中村達也: "非接触ハンドリング機構" 日本機械学会誌. 96. 621-621 (1993)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] 中村達也: "磁気を用いた2次元磁気浮上移動のメカニズム" 日本機械学会論文集(C編). 61. 1935-1941 (1995)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] Tatsuya Nakamura: "Mechanism and Control for Nonconfact manipulation of Objects Using Magnets" Research Report of Mie University. 20(to be published). (1995)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] Tatsuya Nakamura: "Mechanism for Noncontact Handling of Objects (in Japanese)" Journal of JSME. Vol.96. 621 (1993)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] Tatsuya Nakamura: "A Mechanism for Magnetically Levitated Movement in Two Dimensional Space (in Japanese)" Trans.of JSME (C). Vol.61. 1935-1941 (1996)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] Tatsuya Nakamura: "Mechanism and Control for Noncontact Manipulation of Objects Using Magnets (to be published)" Research Peport of Mie University. Vol.20. (1995)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1994 Final Research Report Summary
  • [Publications] 中村,達也: "微小磁石の2次元磁気浮上移動のメカニズム" 日本機械学会論文集C編. (掲載確定).

    • Related Report
      1994 Annual Research Report
  • [Publications] 本間,敬子、新井,健生、安達,弘典、中村,達也: "掘削ロボットのための地山モデル" 日本ロボット学会誌. 第12巻. 621-629 (1994)

    • Related Report
      1994 Annual Research Report
  • [Publications] T.Nakamura,N.Kato,T.Tomioka: "Feasibility Study on Waste Picking Seashore Robot" Proceedings of MIFS'94. 402-405 (1994)

    • Related Report
      1994 Annual Research Report
  • [Publications] 中村達也: "非接触式ハンドリング機構" 日本機械学会誌. 第96巻. 621-621 (1993)

    • Related Report
      1993 Annual Research Report
  • [Publications] 小谷内範穂,安達弘典,中村達也,中野栄二: "階段登降のための自立形6脚歩行ロボットの設計と制御" 日本ロボット学会誌. 第11巻. 918-928 (1993)

    • Related Report
      1993 Annual Research Report
  • [Publications] 山羽和夫,冨長博,中村達也,三宅洋一: "二次元画像情報と近接センサからの奥行き距離推定システム" 日本機械学会論文集(C編). 第59巻. 3116-3122 (1993)

    • Related Report
      1993 Annual Research Report

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Published: 1993-04-01   Modified: 2016-04-21  

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