Coarse and fine motion simulator between a magnetically levitated robot and an industrial robot Online publication date: Wed, 17-Dec-2014
by Susumu Tarao; Moein Mehrtash; Naoaki Tsuda; Mir Behrad Khamesee
International Journal of Mechatronics and Automation (IJMA), Vol. 4, No. 4, 2014
Abstract: Magnetically levitated robots are widely employed for non-contact manipulation that presents a great promise for using 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 envelope) seems an effective way to expand the whole operational working space. 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.
Online publication date: Wed, 17-Dec-2014
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Mechatronics and Automation (IJMA):
Login with your Inderscience username and password:
Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.
If you still need assistance, please email email@example.com