Micromanipulation using magnetic field

Magnetic force is useful for manipulating objects without contact. We propose a method of micromanipulation using this force. The concept is based upon linkage-free end-effectors and different from the concept of serial-link manipulators. Multiple cylindrical permanent magnets work as end-effectors. The permanent magnets on the stage, above an arrangement of solenoids, manipulate objects by pushing. Furthermore, 3D manipulation can be achieved as a link mechanism is used. A prototype of the manipulator has been fabricated. The manipulation field measures 4.5 cm/spl times/4.5 cm and consists of 6/spl times/6 solenoids. The magnets are 6 mm in diameter. The ability of a magnet to follow a control signal and the force for pushing an object have been evaluated. Furthermore, a prototype of the link mechanism has been fabricated. The vertical force for pushing down and pulling up an object have also been evaluated.