NDLI: Using tilt-control in non-contact manipulation systems: Development of 2-DOF tilting actuator with remote center of rotation

Content Provider	IEEE Xplore Digital Library
Author	van West, E. Yamamoto, A. Higuchi, T.
Copyright Year	2010
Description	Author affiliation: The Univ. of Tokyo, Japan (van West, E.; Yamamoto, A.; Higuchi, T.)
Abstract	Levitation systems allow delicate objects to be handled without contact by actively controlling a levitation force that suspends the object. A drawback of levitation systems for thin objects is that the lateral force can not be controlled actively and is much weaker than the levitation force. This is a problem for non-contact manipulation systems as the object may loose its alignment with the levitator (and drop) because of the inertial forces coming from the lateral accelerations. In earlier work, a solution was proposed using Tilt Control in which lateral accelerations are compensated by the levitation force by tilting both the object and the levitator. This concept has been verified in an experimental setup that was capable of tilting around only one axis. In this paper, a new and unique design is presented of a tilting actuator that is capable of rotating around two axis, so that full 3D-space manipulation is possible. A key aspect of the Tilt Control strategy is that the center of rotation is at the center of mass of the levitated object and, for the tilting actuator, this means that it should have a remote center of rotation. A spherical cap or dome-shaped structure supported by three ball bearings, is used as the fundamental principle for the tilting actuator design as it has a natural remote center. The design and realization of this tilting actuator are described in this paper and a pilot experiment was carried out in which the tilting actuator, with a magnetic levitator installed, was attached to a linear motor. The results showed successful tilting action as relative lateral motion of the levitated object were significantly reduced on two axis.
Starting Page	5607
Ending Page	5612
File Size	2113254
Page Count	6
File Format	PDF
ISBN	9781424450381
ISSN	10504729
DOI	10.1109/ROBOT.2010.5509403
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-05-03
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Force control Magnetic levitation Electrostatic levitation Acceleration Control systems Hydraulic actuators Glass Magnetic materials Conducting materials Force measurement
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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