NDLI: Motion simulator for coarse and fine motion of combination of a magnetically levitated micro robot and an industrial macro robot

Content Provider	IEEE Xplore Digital Library
Author	Tarao, S. Mehrtash, M. Tsuda, N. Khamesee, M.B.
Copyright Year	2013
Description	Author affiliation: Dept. of Mech. Eng., Wakayama Nat. Coll. of Technol., Gobo, Japan (Tsuda, N.) \|\| Dept. of Mech. Eng., Tokyo Nat. Coll. of Technol., Hachioji, Japan (Tarao, S.) \|\| Mech. & Mechatron. Eng. Dept., Univ. of Waterloo, Waterloo, ON, Canada (Mehrtash, M.; Khamesee, M.B.)
Abstract	Magnetically levitated robots can move without lubrication, they generally have advantages to the use in the various special environments such as in a dust-free room, in a vacuum, in a flammable atmosphere, and in vivo. Meanwhile, they have a disadvantage of small working volume corresponding to the allowable air gap between the levitated object and the electromagnets. In some cases, to construct a combination of a magnetically levitated robot (which can generate a fine motion) and an industrial robot (which can generate a coarse motion and has a comparatively large working volume) seems an effective way to expand the whole working volume. On that premise, we are developing an experimental system and simulator for collaborative work between a magnetically levitated robot and an industrial robot. This paper presents the system concept and the configuration of the simulator, and the result of a preliminary simulation experiment which has been performed to evaluate mainly two elements: the numerical magnetically levitated robot model and the numerical industrial robot model.
Starting Page	146
Ending Page	151
File Size	1397266
Page Count	6
File Format	PDF
ISBN	9781467355575
e-ISBN	9781467355605
DOI	10.1109/ICMA.2013.6617908
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-08-04
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Service robots Magnetic levitation Robot kinematics Numerical models Electromagnets Dynamics Motion Simulator Magnetically Levitated Micro Robot Coarse and Fine Motion Dynamics Model
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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