This work examines force modeling and softwarebased commutation for closed-loop control of planar linear motors, motivated by the need for a robust and versatile planar robot for precision assembly. The approach taken is to make measurements of the static and dynamic force capabilities of the motor as directly as possible, and determine the applicability of simple models commonly used. Measurem...

Linear motors are sensitive to disturbances and parameter variations. Certain types of linear motors such as the iron core are also subject to nonlinear e ects due to periodic cogging force and force ripple. An adaptive robust controller based on the discontinuous projection method is constructed to address these issues. In particular, based on the particular structures of various periodic nonl...

Preliminary notes Ultrasonic linear motors (ULMs) are widely used in many industrial applications and a full characterization of their behaviour is often needed. This paper presents a detailed analytical-experimental study of ULMs. First, the general structure and operation principle of ULMs are introduced. The actuator mechanics is then described using a simple piezoelectric model. Since, in p...

Vibrotactile stimulation system that generates haptic illusion by employing a RA mechanoreceptor model is developed. The developed stimulator consists of an array of 6 by 4 tiny ultrasonic linear motors [1, 2] with nominal pitch of 2.9mm. Distal pad of human finger with RA mechanoreceptors is modeled using Bensmaia’s RA model [3]. In addition, stimulation characteristics of the motor are calibr...

multileaf collimator (mlc) is among the radiation field shaping systems used for conformal radiotherapy and intensity modulation radiation therapy techniques. the mlc system that has been designed and fabricated in this study includes 52 leaves, 52 stepper motors, 2 dc motors, 16 programmable logic controllers (plcs) and one human machine interface (hmi). this system can be mounted on conventio...

This is the second part of a paper, divided in two parts, dealing with the application of the input–output feedback linearization (FL) control technique to linear induction motors (LIMs). The first part has treated the theoretical formulation of the input–output feedback linearization control technique as to be applied to linear induction motors. This second part describes the set of tests, bot...

We designed and implemented a magnetically levitated stage with large planar motion capability. This planar magnetic levitator employs four novel permanent-magnet linear motors. Each motor generates vertical force for suspension against gravity, as well as horizontal force for drive. These linear levitation motors can be used as building blocks in the general class of multi-degree-of-freedom mo...

The mechanisms of molecular motors transport are important for understanding multiple biological processes. Recent single-molecule experiments indicate that motor proteins myosin V moves along protein filaments via a complex biochemical pathway that consists of sequentially coupled linear and parallel two-chain segments. We investigate analytically the corresponding discrete-state stochastic di...