Prof. Behrad Khamesee
Department of Mechanical and Mechatronics Engineering, University of Waterloo, Canada
June 17, 2010 | 11:00 to 12:00 | 540 Cory Hall, DOP Center Conference Room
Host: Richard Lossing
In this talk, a novel technique for micromanipulation using magnetic levitation is presented. The design and development of a microrobotic system based on magnetic principles is described. The goal is to develop a system in which miniature items can be transported and assembled within hazardous environments. A teleoperated microrobot is levitated and moved within a 3D space inside a magnetic field with multi-degrees of freedom. The microrobot can be operated in an enclosed environment by transferring magnetic energy and optical signals from outside. A magnetic drive unit generates magnetic energy for the microrobot's manipulation. The drive unit consists of eight electromagnets (four pairs), two permanent magnets, a return yoke made from a soft magnetic iron, and a special pole-piece. The microrobot is manipulated in a workspace under the pole-piece by regulating magnetic field. It consists of three main components; magnetic head, body consisting of electronic circuit and batteries, and fingers made from two thin ribbons of a copper alloy. A shape memory alloy (SMA) actuator activates the fingers to grasp or release an object by illuminating/extinguishing several LEDs facing the microrobot. The first magnetically levitated MEMS-Robot, which was recently developed at the University of Waterloo, will be introduced.
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