Design of Magnetically Levitated Micro Operation Hands

Application of magnetic levitation technology to mechatronics has a possibility of compact design of machine, since no transmission mechanism is required. Furthermore, becauseof non-friction, force control is easy to implement and high accuracy is expected in position control. These features are also effective in robotics. In our research, mechanism and control of micro operation hands are investigated. The hand consists of two finger rods each of which has three degrees of freedom and is controlled by an independent finger subsystem. To realize this finger subsystem two models are considered: a hybrid (magnetic and mechanical) suspension model and a full levitation model. A novel magnetic actuator composed of a permanent magnet and an air-core coil is used for actuation and suspension in the models. The basic characteristics of the actuator is analyzed and it is shown that it has a good property for motion control. Also it is shown that the actuator works as a useful passive suspension component which is used in the full levitation model. Finally, results of a task of micro drawing using the hybrid model are presented.