Pechhacker, A., Wertjanz, D., Csencsics, E. K., & Schitter, G. (2023). Integrated electromagnetic actuator with adaptable zero power gravity compensation. IEEE Transactions on Industrial Electronics, 1–9. https://doi.org/10.1109/TIE.2023.3288176
E376-01 - Forschungsbereich Intelligente Mechatronische Systeme E376 - Institut für Automatisierungs- und Regelungstechnik
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Journal:
IEEE Transactions on Industrial Electronics
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ISSN:
0278-0046
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Date (published):
26-Jun-2023
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Number of Pages:
9
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Publisher:
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
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Peer reviewed:
Yes
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Keywords:
Actuators; Actuators; Coils; Electromagnetic forces; Gravity; Magnetic flux; Magnetic levitation; Magnetization; Mechatronics; Saturation magnetization
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Abstract:
This paper presents a novel integrated electromagnetic actuator with a position-independent zero power gravity compensation mechanism for variable masses. Gravity is actively compensated by a variable reluctance actuator with a seamlessly tunable electropermanent magnet. To counteract the negative stiffness of the variable reluctance actuator, Lorentz actuators are used to stabilize the position of a magnetically levitated mover in two DoFs. A local search algorithm tunes the EPM, providing a variable force between 0 and 25 N. Experimental results demonstrate a reduction of the power consumption by at least four orders of magnitude in comparison to the purely Lorentz actuated system and a gravity compensation tuning rate of 2.6 N/s, verifying the utilization of the actuator for energy efficient positioning systems or vibration isolation systems with variable effective loads.
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Research Areas:
Mathematical and Algorithmic Foundations: 50% Sensor Systems: 50%
