Contactless planar actuator with manipulator: a motion system without cables and physical contact between the mover and the fixed world

J. Boeij, de; E. Lomonova; J.L. Duarte

doi:10.1109/TIA.2009.2031858

Contactless planar actuator with manipulator: a motion system without cables and physical contact between the mover and the fixed world

J. Boeij, de, E. Lomonova, J.L. Duarte

Research output: Contribution to journal › Article › Academic › peer-review

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Abstract

In this paper, a novel motion system is presented that provides completely contactless operation from the fixed world. It consists of a contactless planar actuator with 6-DOF and long-stroke movement in the x-y plane, with a 2-DOF manipulator on top of the floating platform. The contactless energy transfer (100 W continuous) to the moving platform for operating manipulator is integrated into the magnetic suspension. The manipulator is controlled by a controller on the fixed world with a low-latency wireless link based on a custom protocol (<400-mus additional closed-loop delay). The behavior of the system is demonstrated with measurements of the experimental setup.

Original language	English
Pages (from-to)	1930-1938
Number of pages	9
Journal	IEEE Transactions on Industry Applications
Volume	45
Issue number	6
DOIs	https://doi.org/10.1109/TIA.2009.2031858
Publication status	Published - 2009

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AB - In this paper, a novel motion system is presented that provides completely contactless operation from the fixed world. It consists of a contactless planar actuator with 6-DOF and long-stroke movement in the x-y plane, with a 2-DOF manipulator on top of the floating platform. The contactless energy transfer (100 W continuous) to the moving platform for operating manipulator is integrated into the magnetic suspension. The manipulator is controlled by a controller on the fixed world with a low-latency wireless link based on a custom protocol (<400-mus additional closed-loop delay). The behavior of the system is demonstrated with measurements of the experimental setup.

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Contactless planar actuator with manipulator: a motion system without cables and physical contact between the mover and the fixed world

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