Motion simulator for a multi-degree-of-freedom magnetically levitated robot

摘要

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 and an external manipulation device which 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 for collaborative work between a multi-degree-of-freedom (3-DOF) magnetically levitated robot and an external manipulation device. To make full use of the range of movement of the multi-degree-of-freedom magnetically levitated robot, we are also developing an simulator system of the robot in parallel. This paper presents the derivation and the configuration of the simulator system and the results of preliminary experiments and simulations which have been performed to evaluate the effectiveness of the simulator.