Long range six degree-of-freedom magnetic levitation using low cost sensing and control

Peter Berkelman, Yu Sheng Lu

Research output: Contribution to journalArticle

Abstract

We have developed a magnetic levitation system which uses an array of cylindrical actuation coils and a set of three position sensing photodiode assemblies for controlled levitation of a moving platform of permanent magnets. The novelty of this system is that low cost, standard off-the-shelf commodity hardware and soft-ware components are used for position sensing and feedback control, rather than costly motion tracking sensing systems and controllers. The design and function of the system are described and controlled motion in all directions is demonstrated through motion ranges of 30 mm horizontal and 20 mm vertical translation, and 26 of roll and 43 of yaw rotation.

Original languageEnglish
Pages (from-to)683-691
Number of pages9
JournalJournal of Robotics and Mechatronics
Volume32
Issue number3
DOIs
Publication statusPublished - 2020

Keywords

  • Low cost
  • Magnetic levitation
  • Optical motion tracking
  • Position sensing

ASJC Scopus subject areas

  • Computer Science(all)
  • Electrical and Electronic Engineering

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