Noncontact Conveyance Using Robot Manipulator and Permanent Magnet

It is known that a magnetic suspension system can be made with a permanent magnet and a linear actuator. The linear actuator is used to control the air gap and makes a suspension system stable. By the application of this suspension mechanism, we can develop the robot manipulator with the function of noncontact conveyance using a permanent magnet. The object carrying capability and system stabilization are combined. Noncon!act conveyance may be useful for clean or vacuum environments. In this paper, the principle of the suspension mechanism and the concept of the noncontact conveyance are explained. An experimental manipulator system which has two degrees of freedom of movement is introduced. This system is theoretically analyzed providing information necessary to suspend the object without contact. Additionally the feasibility of noncontact conveyance was studied. Control parameters are calculated and the control schemes of the states of picking, carrying, and placing are proposed. These results are examined by numerical simulation. Experimental results verify that the noncontact conveyance is actually possible.