Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Non-Contact Manipulation of Conductive Rod using Axial Magnet Wheels

축형 자기차륜을 이용한 전도성 환봉의 비접촉 조작

  • Jung, Kwang-Suk (Department of Mechanical Engineering, Korea National University of Transportation)
  • 정광석 (한국교통대학교 기계공학과)
  • Received : 2013.02.05
  • Accepted : 2013.05.15
  • Published : 2013.07.01
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Abstract

When a conductive rod is put within rotating axial magnet wheels arranged parallel, three-axial magnetic forces generate on the rod. In some region, the forces has a property of negative stiffness, thus they can be applied to noncontact conveyance of the rod without a control load. Apart from the passive driving, the magnet wheel should be controlled for the rod to be stayed at the still state or be moved in a specified velocity. But, because a control input is just the rotating speed of the magnet wheel, the number of input is less than that of variables to be controlled. It means that levitation force and thrust force increase at the same time for increasing wheel speed, resulting from a strong couple between two forces. Thus, in this paper, a novel method, in which the longitudinal motion of the rod is controlled indirectly by the normal motion of the rod with respect to the wheel center, is introduced to manipulate the rod without mechanical contact on space.

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References

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