Lorentz Levitation Technology: a New Approach to Fine Motion Robotics, Teleoperation, Haptic Interfaces, and Vibration Isolation

Abstract

Recently, a new technology for stably levitating and controlling the position and orientation of a rigid body has been introduced. A unique feature is the use of Lorentz forces rather than the usual Maxwell forces as in magnetic bearings. The Lorentz force approach, which is the force experienced by a conductor in a magnetic field, is seen to have several advantages. After an initial exploration phase and period of feasiblity study, a number of potentially important applications are emerging. Among them are a way to provide fine compliant motion for assembly, to provide high fidelity force/torque feedback for teleoperation and virtual reality haptic interfaces, and to isolate sensitive payloads from environmental vibrational disturbances, either in space or on earth. In this paper we will discuss recent work intended to demonstrate the efficacy of Lorentz levitation technology for these application areas.