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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Design and Modeling of a 3-D Magnetic Actuator for Magnetic Microbead Manipulation
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Design and Modeling of a 3-D Magnetic Actuator for Magnetic Microbead Manipulation

机译：用于磁微珠操纵的3-D磁执行器的设计和建模

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摘要

This paper presents the design, implementation, modeling, and analyses of a hexapole magnetic actuator that is capable of 3-D manipulation of a magnetic microbead. The magnetic actuator employs six sharp-tipped magnetic poles placed in hexapole configuration, six actuating coils, and a magnetic yoke. The magnetic poles concentrate the magnetic flux generated by the coils to the workspace, resulting in a high magnetic field with a large field gradient for magnetic force generation on the magnetic microbead. A lumped-parameter magnetic force model is then established to characterize nonlinearity of the magnetic force exerting on the magnetic microbead with respect to the applied currents to the coils and the position dependence of the magnetic force in the workspace. The force generation capability of the designed system is then explored using the force model. Moreover, an inverse force model is derived and its effect on the magnetic actuation capability is investigated. The inverse force model facilitates the implementation of a feedback control law to stabilize and control the motion of a magnetic microbead. Experimental results in terms of the magnetic force in relation to stable motion control of a magnetic microbead are used to validate the force model.
机译：本文介绍了能够对磁性微珠进行3-D操作的六极磁致动器的设计，实现，建模和分析。磁致动器采用六个以六极配置放置的尖头磁极，六个致动线圈和一个磁轭。磁极将线圈产生的磁通量集中到工作空间，从而产生具有大磁场梯度的高磁场，从而在磁性微珠上产生磁力。然后建立集总参数的磁力模型，以表征施加到线圈的电流相对于施加在线圈上的电流和工作空间中磁力的位置依赖性所产生的磁力的非线性。然后，使用力模型探索设计系统的力产生能力。此外，推导了反作用力模型，并研究了其对磁致动能力的影响。反向力模型有助于实现反馈控制定律，以稳定和控制磁性微珠的运动。相对于磁性微珠的稳定运动控制的磁力方面的实验结果用于验证力模型。

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