Design and Optimization of a Rotary Actuator for a Two-Degree-of-Freedom z\phi-Module

This paper concerns the design and optimization of a rotary actuator of which the rotor is attached to a linear actuator inside a two-degree-of-freedom z φ-module, which is part of a pick-and-place robot. The rotary actuator provides ±180° rotation while the linear actuator offers a z -motion of ±5...

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Bibliographic Details
Published in:IEEE transactions on industry applications 2010-11, Vol.46 (6), p.2401-2409
Main Authors: Overboom, T T, Jansen, J W, Lomonova, E A, Tacken, F J F
Format: Article
Language:English
Subjects:
2-DoF actuator
Actuators
Clearances
Coils
Coils (windings)
Couplings
Design engineering
Design optimization
magnetic analysis
Magnetic flux
Mathematical analysis
Optimization
permanent magnet motors
Perpendicular magnetic anisotropy
Poles
Robots
servo motors
thermal analysis
Windings
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Summary:This paper concerns the design and optimization of a rotary actuator of which the rotor is attached to a linear actuator inside a two-degree-of-freedom z φ-module, which is part of a pick-and-place robot. The rotary actuator provides ±180° rotation while the linear actuator offers a z -motion of ±5 mm. In this paper, the optimal combinations of magnet poles and coils are determined for this slotless actuator with concentrated windings. Based on this analysis, the rotary actuator is optimized using a multiphysical framework, which contains coupled electromagnetic, mechanical, and thermal models. Because the rotation angle is limited, both a moving-coil design with a double mechanical clearance and a moving-magnet design with a single mechanical clearance have been investigated and compared. Additionally, the influence of the edge effects of the magnets on the performance of the rotary actuator has been investigated with both 3-D finite-element modeling simulations and measurements.
ISSN:0093-9994
1939-9367
DOI:10.1109/TIA.2010.2073430