Investigation of the effect of current in angular positioning by Helmholtz coils

In this paper¡ it has been tried to position and rotate a magnet using two pairs of Helmholtz coils. First the system was simulated by software and the impact of electric current flowing through the coils and magnetic fields that create the space between them¡ was observed. Next¡ the required equipment and coils for magnetic angular positioning and testing was designed and built. Electrical circuits¡ computer software and microcontroller are responsible for exerting the required voltage¡ and as a result the necessary current to position the proposed robot¡ which includes chip particles¡ compass and a small magnet. After applying various electric currents to the coils¡ the magnet position was determined using a rotary encoder. And eventually values obtained from tests were compared with the values obtained from the theoretical equations and the system error at different flows was evaluated. At last magnet was continuously rotated by applying sinusoidal currents¡ where rotational speed was measured up to one Hertz.