A new novel six-degree of freedom two-link manipulator using active magnetic bearing

Design, kinematics, and control

Mohamed Selmy, Mohamed Fanni, Abdelfatah M. Mohamed, Tomoyuki Miyashita

    Research output: Contribution to journalArticle

    1 Citation (Scopus)

    Abstract

    Due to the absence of mechanical contact, active magnetic bearing can be electrically controlled in an accuracy of a micrometer. This makes it a good choice to be used for robot manipulation in the micrometer scale, especially in environments that need to be very clean, for example, surgery or clean rooms. Moreover, it can be used in the applications that need high precision micromotion such as semiconductor wafers manipulation. Despite all these benefits, there are few studies that have investigated the application of active magnetic bearing in the robotics field in spotless environments for micromotion applications. This article proposes a new novel six-degree of freedom two-link manipulator using two contactless joints with active magnetic bearing. The key design aspects of the proposed manipulator are presented. The proposed manipulator is designed using finite element method. Each joint roll angle is controlled using a PID-based feedback linearization controller, while a state feedback controller with integral term is used for controlling the active magnetic bearing five-degree of freedom. The stability analysis of the system, under the proposed controller, is carried out. The robustness of the controllers is tested against end effector payload variations. The results demonstrate that the proposed two-link manipulator is feasible and valid for the applications in spotless environments that need high precision accuracy micromotion control. These significant findings have indicated the feasibility of implementing this proposed manipulator in practice and open the door for developing other types of robots with complete contactless joints using active magnetic bearing.

    Original languageEnglish
    JournalInternational Journal of Advanced Robotic Systems
    Volume15
    Issue number6
    DOIs
    Publication statusPublished - 2018 Nov 1

    Fingerprint

    Magnetic bearings
    Manipulators
    Kinematics
    Controllers
    Robots
    Clean rooms
    Feedback linearization
    End effectors
    State feedback
    Robustness (control systems)
    Surgery
    Robotics
    Semiconductor materials
    Finite element method

    Keywords

    • Active magnetic bearing
    • brushless DC motor
    • finite element method
    • stability

    ASJC Scopus subject areas

    • Software
    • Computer Science Applications
    • Artificial Intelligence

    Cite this

    A new novel six-degree of freedom two-link manipulator using active magnetic bearing : Design, kinematics, and control. / Selmy, Mohamed; Fanni, Mohamed; Mohamed, Abdelfatah M.; Miyashita, Tomoyuki.

    In: International Journal of Advanced Robotic Systems, Vol. 15, No. 6, 01.11.2018.

    Research output: Contribution to journalArticle

    @article{f88d0b1889d44955b1b85206c514cd9f,
    title = "A new novel six-degree of freedom two-link manipulator using active magnetic bearing: Design, kinematics, and control",
    abstract = "Due to the absence of mechanical contact, active magnetic bearing can be electrically controlled in an accuracy of a micrometer. This makes it a good choice to be used for robot manipulation in the micrometer scale, especially in environments that need to be very clean, for example, surgery or clean rooms. Moreover, it can be used in the applications that need high precision micromotion such as semiconductor wafers manipulation. Despite all these benefits, there are few studies that have investigated the application of active magnetic bearing in the robotics field in spotless environments for micromotion applications. This article proposes a new novel six-degree of freedom two-link manipulator using two contactless joints with active magnetic bearing. The key design aspects of the proposed manipulator are presented. The proposed manipulator is designed using finite element method. Each joint roll angle is controlled using a PID-based feedback linearization controller, while a state feedback controller with integral term is used for controlling the active magnetic bearing five-degree of freedom. The stability analysis of the system, under the proposed controller, is carried out. The robustness of the controllers is tested against end effector payload variations. The results demonstrate that the proposed two-link manipulator is feasible and valid for the applications in spotless environments that need high precision accuracy micromotion control. These significant findings have indicated the feasibility of implementing this proposed manipulator in practice and open the door for developing other types of robots with complete contactless joints using active magnetic bearing.",
    keywords = "Active magnetic bearing, brushless DC motor, finite element method, stability",
    author = "Mohamed Selmy and Mohamed Fanni and Mohamed, {Abdelfatah M.} and Tomoyuki Miyashita",
    year = "2018",
    month = "11",
    day = "1",
    doi = "10.1177/1729881418817634",
    language = "English",
    volume = "15",
    journal = "International Journal of Advanced Robotic Systems",
    issn = "1729-8806",
    publisher = "Vienna University of Technology",
    number = "6",

    }

    TY - JOUR

    T1 - A new novel six-degree of freedom two-link manipulator using active magnetic bearing

    T2 - Design, kinematics, and control

    AU - Selmy, Mohamed

    AU - Fanni, Mohamed

    AU - Mohamed, Abdelfatah M.

    AU - Miyashita, Tomoyuki

    PY - 2018/11/1

    Y1 - 2018/11/1

    N2 - Due to the absence of mechanical contact, active magnetic bearing can be electrically controlled in an accuracy of a micrometer. This makes it a good choice to be used for robot manipulation in the micrometer scale, especially in environments that need to be very clean, for example, surgery or clean rooms. Moreover, it can be used in the applications that need high precision micromotion such as semiconductor wafers manipulation. Despite all these benefits, there are few studies that have investigated the application of active magnetic bearing in the robotics field in spotless environments for micromotion applications. This article proposes a new novel six-degree of freedom two-link manipulator using two contactless joints with active magnetic bearing. The key design aspects of the proposed manipulator are presented. The proposed manipulator is designed using finite element method. Each joint roll angle is controlled using a PID-based feedback linearization controller, while a state feedback controller with integral term is used for controlling the active magnetic bearing five-degree of freedom. The stability analysis of the system, under the proposed controller, is carried out. The robustness of the controllers is tested against end effector payload variations. The results demonstrate that the proposed two-link manipulator is feasible and valid for the applications in spotless environments that need high precision accuracy micromotion control. These significant findings have indicated the feasibility of implementing this proposed manipulator in practice and open the door for developing other types of robots with complete contactless joints using active magnetic bearing.

    AB - Due to the absence of mechanical contact, active magnetic bearing can be electrically controlled in an accuracy of a micrometer. This makes it a good choice to be used for robot manipulation in the micrometer scale, especially in environments that need to be very clean, for example, surgery or clean rooms. Moreover, it can be used in the applications that need high precision micromotion such as semiconductor wafers manipulation. Despite all these benefits, there are few studies that have investigated the application of active magnetic bearing in the robotics field in spotless environments for micromotion applications. This article proposes a new novel six-degree of freedom two-link manipulator using two contactless joints with active magnetic bearing. The key design aspects of the proposed manipulator are presented. The proposed manipulator is designed using finite element method. Each joint roll angle is controlled using a PID-based feedback linearization controller, while a state feedback controller with integral term is used for controlling the active magnetic bearing five-degree of freedom. The stability analysis of the system, under the proposed controller, is carried out. The robustness of the controllers is tested against end effector payload variations. The results demonstrate that the proposed two-link manipulator is feasible and valid for the applications in spotless environments that need high precision accuracy micromotion control. These significant findings have indicated the feasibility of implementing this proposed manipulator in practice and open the door for developing other types of robots with complete contactless joints using active magnetic bearing.

    KW - Active magnetic bearing

    KW - brushless DC motor

    KW - finite element method

    KW - stability

    UR - http://www.scopus.com/inward/record.url?scp=85058643134&partnerID=8YFLogxK

    UR - http://www.scopus.com/inward/citedby.url?scp=85058643134&partnerID=8YFLogxK

    U2 - 10.1177/1729881418817634

    DO - 10.1177/1729881418817634

    M3 - Article

    VL - 15

    JO - International Journal of Advanced Robotic Systems

    JF - International Journal of Advanced Robotic Systems

    SN - 1729-8806

    IS - 6

    ER -