This paper presents a new magnetic levitation system, MagTable, which provides six-degrees-of-freedom (6-DOF) and completely contactless operation of a magnetized object. The MagTable consists of a planar array of square coils and a permanent magnet type carrier. The maximum levitation height of the carrier is 30mm within a 400mm × 200mm horizontal translation range. The novelty of this research lies in the fully untethered manipulation of levitated carriers in such a large area, and in the fast and accurate computation of wrench matrix using the magnetic nodes method and the Lorentz force law. In this paper, the design method is firstly provided. Then, the optimization of the carrier's magnet topology, based on better controllability and minimum power consumption, is documented. Experimental results of the 5-DOF motion control of two single-permanent-magnet carriers and the 6-DOF motion control of a three-permanent-magnets carrier are presented. The results demonstrate the performance of the MagTable in 100mm × 40mm horizontal translation range with maximum levitation height of 20mm. The rotation range are ±6° in both roll and pitch, and ±12° yaw motion about the vertical axis. The proposed system has potential applications in fast and high precision manipulation tasks.

本文介绍了一种新的磁悬浮系统 MagTable，它提供了六自由度 (6-DOF) 和磁化物体的完全非接触式操作。MagTable 由方形线圈的平面阵列和永磁型载体组成。在400mm×200mm水平平移范围内，载体的最大悬浮高度为30mm。这项研究的新颖之处在于在如此大的区域内完全不受束缚地操纵悬浮载体，以及使用磁节点法和洛伦兹力定律快速准确地计算扳手矩阵。在本文中，首先提供了设计方法。然后，记录了基于更好的可控性和最小功耗的载体磁体拓扑优化。给出了两个单永磁载体的 5 自由度运动控制和三永磁载体的 6 自由度运动控制的实验结果。结果证明了 MagTable 在 100mm × 40mm 水平平移范围内的性能，最大悬浮高度为 20mm。滚转和俯仰的旋转范围为±6°，绕垂直轴的偏航运动为±12°。所提出的系统在快速和高精度的操作任务中具有潜在的应用。