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A novel coil configuration to extend the motion range of Lorentz force magnetic levitation devices for haptic interaction
Lorentz force magnetic levitation devices have been used for fine positioning, compliant assembly, force- reflecting teleoperation, and haptic interaction. The advantages of Lorentz levitation devices compared to motorized linkage and/or cable devices include the lack of friction, hysteresis, and ot...
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description | Lorentz force magnetic levitation devices have been used for fine positioning, compliant assembly, force- reflecting teleoperation, and haptic interaction. The advantages of Lorentz levitation devices compared to motorized linkage and/or cable devices include the lack of friction, hysteresis, and other nonlinearities in actuation dynamics, the simplicity and robustness of a single moving part, and the potential for high closed-loop control bandwidths, a large impedance range, and precise motion. The principal disadvantage of existing Lorentz levitation devices is their motion ranges of 25 mm or less in translation and 20 degrees or less in rotation, which limits their utility in application domains such as haptic interaction. In this paper a novel coil and magnet configuration is presented which extends the possible motion range of Lorentz force magnetic levitation devices to 50 mm and at least 60 degrees, twice the present maximum range in translation and three times the maximum rotation. The motion range of the device design is confirmed through computer-aided design models and the levitation feasibility is shown through magnetic finite element analysis. |
doi_str_mv | 10.1109/IROS.2007.4399165 |
format | conference_proceeding |
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The advantages of Lorentz levitation devices compared to motorized linkage and/or cable devices include the lack of friction, hysteresis, and other nonlinearities in actuation dynamics, the simplicity and robustness of a single moving part, and the potential for high closed-loop control bandwidths, a large impedance range, and precise motion. The principal disadvantage of existing Lorentz levitation devices is their motion ranges of 25 mm or less in translation and 20 degrees or less in rotation, which limits their utility in application domains such as haptic interaction. In this paper a novel coil and magnet configuration is presented which extends the possible motion range of Lorentz force magnetic levitation devices to 50 mm and at least 60 degrees, twice the present maximum range in translation and three times the maximum rotation. The motion range of the device design is confirmed through computer-aided design models and the levitation feasibility is shown through magnetic finite element analysis.</description><identifier>ISSN: 2153-0858</identifier><identifier>ISBN: 9781424409112</identifier><identifier>ISBN: 142440911X</identifier><identifier>EISSN: 2153-0866</identifier><identifier>EISBN: 1424409128</identifier><identifier>EISBN: 9781424409129</identifier><identifier>DOI: 10.1109/IROS.2007.4399165</identifier><identifier>LCCN: 2007694096</identifier><language>eng</language><publisher>IEEE</publisher><subject>Assembly ; Coils ; Couplings ; Friction ; Haptic interfaces ; Lorentz covariance ; Magnetic devices ; Magnetic hysteresis ; Magnetic levitation ; Robust control</subject><ispartof>2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007, p.2107-2112</ispartof><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/4399165$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>309,310,780,784,789,790,2058,27925,54555,54920,54932</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/4399165$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc></links><search><creatorcontrib>Berkelman, P.</creatorcontrib><title>A novel coil configuration to extend the motion range of Lorentz force magnetic levitation devices for haptic interaction</title><title>2007 IEEE/RSJ International Conference on Intelligent Robots and Systems</title><addtitle>IROS</addtitle><description>Lorentz force magnetic levitation devices have been used for fine positioning, compliant assembly, force- reflecting teleoperation, and haptic interaction. 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The motion range of the device design is confirmed through computer-aided design models and the levitation feasibility is shown through magnetic finite element analysis.</description><subject>Assembly</subject><subject>Coils</subject><subject>Couplings</subject><subject>Friction</subject><subject>Haptic interfaces</subject><subject>Lorentz covariance</subject><subject>Magnetic devices</subject><subject>Magnetic hysteresis</subject><subject>Magnetic levitation</subject><subject>Robust control</subject><issn>2153-0858</issn><issn>2153-0866</issn><isbn>9781424409112</isbn><isbn>142440911X</isbn><isbn>1424409128</isbn><isbn>9781424409129</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2007</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><recordid>eNo9kNtOAjEQhuuBREAewHjTF1jsYXu6JESUhIREuSfd7izUQEt2KxGf3l1Bb-afzPfPn8kg9EDJmFJinuZvy_cxI0SNc24MleIKDWjO8pwYyvQ16jMqeEa0lDdoZJT-Y5Td_jOhe2jQZUjTInmHRk3zQQihSuaEsj46TXCIR9hhF31XQuU3n7VNPgacIoavBKHEaQt4H3-HtQ0bwLHCi1hDSN-4irVrqd0ESN7hHRx9Ou-Xbeug6Rx4aw8d9SFBbV2H71GvsrsGRhcdotXseTV9zRbLl_l0ssi8ISnTyuaKVbKQUkiuCbR3Cy60K7isciqUq3hJCy4cKSxTUlNwjJjSGmsZswUfosdzrAeA9aH2e1uf1peP8h-GemVH</recordid><startdate>200710</startdate><enddate>200710</enddate><creator>Berkelman, P.</creator><general>IEEE</general><scope>6IE</scope><scope>6IH</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIO</scope></search><sort><creationdate>200710</creationdate><title>A novel coil configuration to extend the motion range of Lorentz force magnetic levitation devices for haptic interaction</title><author>Berkelman, P.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i90t-87a472f6b6656380e6405358cb36f4157cf3d1b35c0ba27681ec209da9aa22ab3</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2007</creationdate><topic>Assembly</topic><topic>Coils</topic><topic>Couplings</topic><topic>Friction</topic><topic>Haptic interfaces</topic><topic>Lorentz covariance</topic><topic>Magnetic devices</topic><topic>Magnetic hysteresis</topic><topic>Magnetic levitation</topic><topic>Robust control</topic><toplevel>online_resources</toplevel><creatorcontrib>Berkelman, P.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan (POP) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Xplore</collection><collection>IEEE Proceedings Order Plans (POP) 1998-present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Berkelman, P.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>A novel coil configuration to extend the motion range of Lorentz force magnetic levitation devices for haptic interaction</atitle><btitle>2007 IEEE/RSJ International Conference on Intelligent Robots and Systems</btitle><stitle>IROS</stitle><date>2007-10</date><risdate>2007</risdate><spage>2107</spage><epage>2112</epage><pages>2107-2112</pages><issn>2153-0858</issn><eissn>2153-0866</eissn><isbn>9781424409112</isbn><isbn>142440911X</isbn><eisbn>1424409128</eisbn><eisbn>9781424409129</eisbn><abstract>Lorentz force magnetic levitation devices have been used for fine positioning, compliant assembly, force- reflecting teleoperation, and haptic interaction. The advantages of Lorentz levitation devices compared to motorized linkage and/or cable devices include the lack of friction, hysteresis, and other nonlinearities in actuation dynamics, the simplicity and robustness of a single moving part, and the potential for high closed-loop control bandwidths, a large impedance range, and precise motion. The principal disadvantage of existing Lorentz levitation devices is their motion ranges of 25 mm or less in translation and 20 degrees or less in rotation, which limits their utility in application domains such as haptic interaction. In this paper a novel coil and magnet configuration is presented which extends the possible motion range of Lorentz force magnetic levitation devices to 50 mm and at least 60 degrees, twice the present maximum range in translation and three times the maximum rotation. The motion range of the device design is confirmed through computer-aided design models and the levitation feasibility is shown through magnetic finite element analysis.</abstract><pub>IEEE</pub><doi>10.1109/IROS.2007.4399165</doi><tpages>6</tpages></addata></record> |
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source | IEEE Xplore All Conference Series |
subjects | Assembly Coils Couplings Friction Haptic interfaces Lorentz covariance Magnetic devices Magnetic hysteresis Magnetic levitation Robust control |
title | A novel coil configuration to extend the motion range of Lorentz force magnetic levitation devices for haptic interaction |
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