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Title: Steering Magnetic Particles by an Array of Rotatable Permanent Magnets: Control Design and Experimental Verification
This paper presents experimental results to verify a novel concept of magnetic manipulation in which arrays of permanent magnets and electromechanical actuators generate and effectively control magnetic fields, through which, magnetic objects can be manipulated from a distance without any direct contact. This concept is realized by an experimental setup that consists of six diametrically magnetized permanent magnets actuated by rotary servomotors to control their directions, by which, the aggregate magnetic field is controlled in a planar circular workspace. To leverage this magnetic field for control of magnetic objects inside the workspace, a feedback loop must be established to command the servomotors based on the positions of these objects measured in real time. A suitable control law is developed for this feedback loop, and is verified by experiments, which demonstrate successful results. The experimental results are compared with those generated by computer simulations under similar conditions.  more » « less
Award ID(s):
1941944
PAR ID:
10573554
Author(s) / Creator(s):
; ;
Publisher / Repository:
IEEE
Date Published:
ISBN:
979-8-3503-5536-9
Page Range / eLocation ID:
474 to 479
Format(s):
Medium: X
Location:
Boston, MA, USA
Sponsoring Org:
National Science Foundation
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