Control strategies for a micro-conveyance system based on an electromagnetic digital actuator array

Abstract

In this paper we present two different control strategies to ensure the trajectory and final position of a transported object in a micro-conveyance system. This system is oriented towards a micro-factory application. The conveyance system is based on a 5×5 matrix array of electromagnetic digital actuators. Each actuator has two DOF and four discrete positions. The digital actuator uses the Lorentz force generated by two pairs of orthogonal wires to move its mobile part. Permanent magnets surrounding each actuator ensure the preservation of the discrete positions. The collaborative action of the actuators produces the conveyance of objects on the system thanks to friction phenomena. A dynamic model of the object’s displacement is presented and used to generate the object’s trajectories. The performance of the control strategies is simulated and compared. The conveyance is attained with a speed of 0.63 mm/s and sub-micrometer tolerances consuming 1.44 J/mm.