Model based maglev microrobotic motion control

Exploratory laboratory investigations performed earlier in maglev microrobotics have initiated research to define an electromagnetic model and a mechanical model for precision model-based maglev motion control. An electromagnetic model was developed, and experiments were performed to validate the model for two types of active magnetic sources: a straight wire conductor and a flat printed-circuit-board trace. Two translational motion (one-dimensional) arrays were fabricated. A mechanical model was developed resembling the model of a spring-mass-damper system. High-speed motion videos were taken to measure actual displacements, velocities, and accelerations of a maglev microrobot in translational motion on each array. The experimental results confirmed both mechanical and electromagnetic models and to a large extent the use of printed-circuit board conductors to produce model-based translational motions