Paper:

# Long Range Six Degree-of-Freedom Magnetic Levitation Using Low Cost Sensing and Control

## Peter Berkelman^{*} and Yu-Sheng Lu^{**}

^{*}Department of Mechanical Engineering, University of Hawaii

2540 Dole Street, Honolulu, HI 96822, USA

^{**}Department of Mechatronic Engineering, National Taiwan Normal University

162, Section 1, Heping East Road, Taipei 106, Taiwan

We have developed a magnetic levitation system which uses an array of cylindrical actuation coils and a set of three position sensing photodiode assemblies for controlled levitation of a moving platform of permanent magnets. The novelty of this system is that low cost, standard off-the-shelf commodity hardware and software components are used for position sensing and feedback control, rather than costly motion tracking sensing systems and controllers. The design and function of the system are described and controlled motion in all directions is demonstrated through motion ranges of 30 mm horizontal and 20 mm vertical translation, and 26° of roll and 43° of yaw rotation.

*J. Robot. Mechatron.*, Vol.32, No.3, pp. 683-691, 2020.

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