Abstract
Magnetically levitated robots can move without lubrication, they generally have advantages to the use in the various special environments such as in a dust-free room, in a vacuum, in a flammable atmosphere, and in vivo. Meanwhile, they have a disadvantage of small working volume corresponding to the allowable air gap between the levitated object and the electromagnets. In some cases, to construct a combination of a magnetically levitated robot (which can generate a fine motion) and an industrial robot (which can generate a coarse motion and has a comparatively large working volume) seems an effective way to expand the whole working volume. On that premise, we are developing an experimental system and simulator for collaborative work between a magnetically levitated robot and an industrial robot. This paper presents the system concept and the configuration of the simulator, and the result of a preliminary simulation experiment which has been performed to evaluate mainly two elements: the numerical magnetically levitated robot model and the numerical industrial robot model.
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