Levitated Micro Manipulator Using Planar Magnetic Traces
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Solution Overview
Problem
Existing magnetically levitated robotic manipulators rely on arrays of electromagnets for precise control, which limits their mobility and flexibility, especially in microfactory applications where complex tasks and precise control are required.
Innovation Solution
A magnetic levitated manipulator system using a circuit substrate with conductive traces to generate magnetic fields, allowing manipulators to move with six degrees of freedom by controlling current patterns, and incorporating diamagnetic layers for levitation and eddy current damping, enabling precise control and coordination of multiple manipulators for tasks like material transport, assembly, and quality control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If arrays of electromagnets are used to provide magnetic fields for controlling magnetic robots, then precise control of robot positions is achieved, but the system complexity and device size increase significantly
Solution Approach 1:
The patent replaces the mechanical/electromagnetic actuator array with a planar magnetic field generated by current-carrying traces on a substrate. Instead of using multiple electromagnets to physically push or pull magnetic robots, the system uses a continuous magnetic field that exerts forces on the robots' magnetic moments, enabling control with simpler infrastructure.
Solution Approach 2:
The planar magnetic field serves multiple functions simultaneously: it provides levitation forces to counteract gravity, generates lateral forces for positional control, and can induce eddy currents for damping. This multi-functionality eliminates the need for separate electromagnet arrays for each function, reducing overall system complexity.
2Adaptability or versatility
If electromagnets are used to generate magnetic fields for manipulator control, then six degrees of freedom control is possible, but the mobility and flexibility of the system are limited
Solution Approach 1:
The patent implements dynamic control by varying the current patterns in the traces over time. The magnetic field configuration can be changed dynamically to guide manipulators along different paths, adjust velocities, and coordinate multiple manipulators for complex tasks, providing high adaptability without requiring physical reconfiguration of the system.
Solution Approach 2:
The system uses a planar (2D) array of traces that generates magnetic fields with three-dimensional control capability. By controlling current magnitudes and directions in the planar traces, the system can independently control the three components of the magnetic force vector, enabling six degrees of freedom manipulation through a two-dimensional substrate structure.
3Reliability
If diamagnetic layers are added for levitation and eddy current damping, then manipulator stability and control precision are improved, but the device complexity increases
Solution Approach 1:
The patent merges the levitation function and the damping function into a single integrated substrate structure. The diamagnetic layer serves both to provide levitation forces and to generate eddy currents for damping, while the trace patterns provide both magnetic field generation and structural support. This consolidation reduces the number of separate components compared to traditional multi-layer approaches.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The system achieves precise control and coordination of manipulators, enabling complex tasks in microfactory settings with increased mobility and flexibility, allowing for the fabrication of components and full-scale factory automation at a micro scale.
Implementation Method 1
A magnetic levitated manipulator system uses a circuit substrate with conductive traces to generate magnetic fields, allowing manipulators to move with six degrees of freedom by controlling current patterns, and incorporating diamagnetic layers for levitation
Implementation Method 2
A magnetic levitated manipulator system uses a circuit substrate with conductive traces to generate magnetic fields, allowing manipulators to move with six degrees of freedom by controlling current patterns
Implementation Method 3
incorporating diamagnetic layers for levitation and eddy current damping, enabling precise control and coordination of multiple manipulators
Data Source
AI summary
A system has a first operation substrate, the operation substrate having at least one sliding surface and at least one conductive trace in a layer in the substrate, at least one flex circuit magnetically coupled to the operation substrate, the flex circuit having at least one sliding surface and at least one conductive trace in the substrate, and at least one manipulator moveable across the sliding surfaces of the operation substrate and the flex circuit by magnetic fields generated by application of current to the conductive traces.