Design procedures in the development of an electromagnetic manipulator
Editor: Anja Maier, Stanko Škec, Harrison Kim, Michael Kokkolaras, Josef Oehmen, Georges Fadel, Filippo Salustri, Mike Van der Loos
Author: Al Mashagbeh, Mohammad; Al-Dulaimi, Thamir; Khamesee, Mir Behrad
Institution: University of Waterloo, Canada
Section: Design Methods and Tools
This paper addresses the conceptual design of and optimal dimensions for building a portable 3-DOF (Degree of Freedom) electromagnetic finger manipulator that can be used for many industrial applications. The overall design procedures are subdivided into the conceptual design, actuator design, configuration design, mechanical design, workspace design and the parametric design. The design procedures are developed based on a morphological chart, which combines the different functions used in the design. This chart allows us to select the best solution to satisfy our goals and objectives. We chose the electromagnetic actuation method to drive the manipulator. The manipulator workspace is 4 cm in the X and Z axes and the maximum swivelling angle in both axes is 30 degrees. The optimal dimensions of the electromagnetic coil are calculated. The magnetic force at 1 cm axial gap and 1 A excitation current is 8 N. This force can generate a 3 N force at the manipulator end-effector based on the manipulator dynamic model. The magnetic force versus the axial distance and versus the excitation current is calculated analytically and simulated using Finite element Methods.