Stick-Slip Conveyance Device based on a Hexagonal Digital Electromagnetic Actuator

This paper introduces a micro conveyance device able to convey small objects in a 2D plane. The conveyance of such objects is carried out using a single digital electromagnetic actuator. The mobile part of the digital actuator is able to reach six discrete positions. It consists of a hexagonal permanent magnet, which is able to switch with the help of the generated Lorentz force due to the conductors placed beneath it. Six cylindrical permanent magnets are placed in a circular fashion around the mobile part in order to provide a magnetic holding to the mobile part at each discrete position. To generate conveyance tasks using this digital actuator, a stickslip approach is proposed. A semi-analytical model has been developed to design a prototype which has been manufactured with the help of laser cutting machine and tested to validate the conveyance principle. Experiments have been carried out and the conveyance of an object in different directions has been realized. The influence of the driving current used to control the actuator on the conveyed distance has also been observed.