Design, Modeling and Experiments of 3-DOF Electromagnetic Spherical Actuators PDF Download
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Author: Liang Yan
Publisher: Springer Science & Business Media
ISBN: 940071646X
Category : Technology & Engineering
Languages : en
Pages : 176
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Book Description
A spherical actuator is a novel electric device that can achieve 2/3-DOF rotational motions in a single joint with electric power input. It has advantages such as compact structure, low mass/moment of inertia, fast response and non-singularities within the workspace. It has promising applications in robotics, automobile, manufacturing, medicine and aerospace industry. This is the first monograph that introduces the research on spherical actuators systematically. It broadens the scope of actuators from conventional single-axis to multi-axis, which will help both beginners and researchers to enhance their knowledge on electromagnetic actuators. Generic analytic modeling methods for magnetic field and torque output are developed, which can be applied to the development of other electromagnetic actuators. A parametric design methodology that allows fast analysis and design of spherical actuators for various applications is proposed. A novel non-contact high-precision 3-DOF spherical motion sensing methodology is developed and evaluated with experiments, which shows that it can achieve one order of magnitude higher precision than conventional methods. The technologies of nondimensionalization and normalization are introduced into magnetic field analysis the first time, and a benchmark database is established for the reference of other researches on spherical actuators.
Author: Liang Yan
Publisher: Springer Science & Business Media
ISBN: 940071646X
Category : Technology & Engineering
Languages : en
Pages : 176
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Book Description
A spherical actuator is a novel electric device that can achieve 2/3-DOF rotational motions in a single joint with electric power input. It has advantages such as compact structure, low mass/moment of inertia, fast response and non-singularities within the workspace. It has promising applications in robotics, automobile, manufacturing, medicine and aerospace industry. This is the first monograph that introduces the research on spherical actuators systematically. It broadens the scope of actuators from conventional single-axis to multi-axis, which will help both beginners and researchers to enhance their knowledge on electromagnetic actuators. Generic analytic modeling methods for magnetic field and torque output are developed, which can be applied to the development of other electromagnetic actuators. A parametric design methodology that allows fast analysis and design of spherical actuators for various applications is proposed. A novel non-contact high-precision 3-DOF spherical motion sensing methodology is developed and evaluated with experiments, which shows that it can achieve one order of magnitude higher precision than conventional methods. The technologies of nondimensionalization and normalization are introduced into magnetic field analysis the first time, and a benchmark database is established for the reference of other researches on spherical actuators.
Author: Kun Bai
Publisher: Springer
ISBN: 9811079625
Category : Technology & Engineering
Languages : en
Pages : 170
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Book Description
This book introduces and illustrates modeling, sensing, and control methods for analyzing, designing, and developing spherical motors. It systematically presents models for establishing the relationships among the magnetic fields, position/orientation and force/torque, while also providing time-efficient solutions to assist researchers and engineers in studying and developing these motors. In order to take full advantage of spherical motors’ compact structure in practical applications, sensing and control methods that utilize their magnetic fields and eliminate the need to install external sensors for feedback are proposed. Further, the book investigates for the first time spherical motors’ force/torque manipulation capability, and proposes algorithms enabling the ball-joint-like end-effector for haptic use based on these motors’ hybrid position/force actuation modes. While systematically presenting approaches to their design, sensing and control, the book also provides many examples illustrating the implementation issues readers may encounter.
Author: Liang Yan
Publisher: Springer
ISBN: 9811023093
Category : Technology & Engineering
Languages : en
Pages : 142
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Book Description
This book extends the conventional two-dimensional (2D) magnet arrangement into 3D pattern for permanent magnet linear machines for the first time, and proposes a novel dual Halbach array. It can not only effectively increase the radial component of magnetic flux density and output force of tubular linear machines, but also significantly reduce the axial flux density, radial force and thus system vibrations and noises. The book is also the first to address the fundamentals and provide a summary of conventional arrays, as well as novel concepts for PM pole design in electric linear machines. It covers theoretical study, numerical simulation, design optimization and experimental works systematically. The design concept and analytical approaches can be implemented to other linear and rotary machines with similar structures. The book will be of interest to academics, researchers, R&D engineers and graduate students in electronic engineering and mechanical engineering who wish to learn the core principles, methods, and applications of linear and rotary machines.
Author: Shaohui Foong
Publisher:
ISBN:
Category : Actuators
Languages : en
Pages :
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Book Description
Growing needs for precise manipulation in medical surgery, manufacturing automation and structural health monitoring have motivated development of high accuracy, bandwidth and cost-effective sensing systems. Among these is a class of multi-axis electromagnetic devices where embedded magnetic fields can be capitalized for compact position estimation eliminating unwanted friction, stiction and inertia arising from dedicated and separate sensing mechanisms. Using fields for position measurements, however, is a challenging 'inverse problem' since they are often modeled in the 'forward' sense and their inverse solutions are often highly non-linear and non-unique. A general method to design a multisensor system that capitalizes on the existing magnetic field in permanent magnet (PM) actuators is presented. This method takes advantage of the structural field symmetry and meticulous placement of sensors to discretize the motion range of a PM-based device into smaller magnetic field segments, thereby reducing the required characterization domain. Within these localized segments, unique field-position correspondence is induced using field measurements from a network of multiple-axis sensors. A direct mapping approach utilizing trained artificial neural networks to attain multi-DOF positional information from distributed field measurements is employed as an alternative to existing computationally intensive model based methods which are unsuitable for real-time control implementation. Validation and evaluation of this technique are performed through field simulations and experimental investigation on an electromagnetic spherical actuator. An inclinometer was used as a performance comparison and experimental results have corroborated the superior tracking ability of the field-based sensing system. While the immediate application is field-based orientation determination of an electromagnetic actuator, it is expected that the design method can be extended to develop other sensing systems that harnesses other scalar, vector and tensor fields.
Author: William R. Bosworth (S.M.)
Publisher:
ISBN:
Category :
Languages : en
Pages : 92
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Book Description
This thesis presents the design and simulation of an electromagnetic actuator system capable of delivering large pulses of radial force onto a cylindrical surface. Due to its robust design, simple control scheme, and large output force capability, the actuator design is developed to be considered for wellbore manipulation and other downhole oil exploration and production activities. The complete simulation - including capacitor bank power supply, solid state switching circuit, transducer, and target formation - is a thirteen value lumped parameter model. The simulation was used heavily in the design and refining of two experimental prototype systems. These prototypes showed excellent model-experiment matching. The experimental prototypes are 2.5" radius, 12" length cylindrical transducers that exert nearly 10 psi onto a simulated rock formation with 2 MN/m radial stiffness, increasing the formation radius 3.5 mm during 5 ms pulse events. It is with this experimentally validated simulation that we project forward a manufacturable system capable of exerting pulses of hundreds of psi in magnitude over durations of 1 - 10 ms onto wellbore sized cylindrical surfaces.
Author:
Publisher:
ISBN:
Category : Mechatronics
Languages : en
Pages : 862
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Book Description
Author: John R. Brauer
Publisher: John Wiley & Sons
ISBN: 1118754972
Category : Science
Languages : en
Pages : 374
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Book Description
A fully updated, easy-to-read guide on magnetic actuators and sensors The Second Edition of this must-have book for today's engineers includes the latest updates and advances in the field of magnetic actuators and sensors. Magnetic Actuators and Sensors emphasizes computer-aided design techniques—especially magnetic finite element analysis; offers many new sections on topics ranging from magnetic separators to spin valve sensors; and features numerous worked calculations, illustrations, and real-life applications. To aid readers in building solid, fundamental, theoretical background and design know-how, the book provides in-depth coverage in four parts: PART I: MAGNETICS Introduction Basic Electromagnetics Reluctance Method Finite-Element Method Magnetic Force Other Magnetic Performance Parameters PART II: ACTUATORS Magnetic Actuators Operated by Direct Current Magnetic Actuators Operated by Alternating Current Magnetic Actuator Transient Operation PART III: SENSORS Hall Effect and Magnetoresistive Sensors Other Magnetic Sensors PART IV: SYSTEMS Coil Design and Temperature Calculations Electromagnetic Compatibility Electromechanical Finite Elements Electromechanical Analysis Using Systems Models Coupled Electrohydraulic Analysis Using Systems Models With access to a support website containing downloadable software data files (including MATLAB® data files) for verifying design techniques and analytical methods, Magnetic Actuators and Sensors, Second Edition is an exemplary learning tool for practicing engineers and engineering students involved in the design and application of magnetic actuators and sensors.
Author: Hungsun Son
Publisher:
ISBN:
Category : Actuators
Languages : en
Pages :
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Book Description
Many applications such as automobiles, gyroscopes, machine tools, and transfer systems require orientation control of a rotating shaft. Demands for multi-degree of freedom (DOF) actuators in modern industries have motivated this research to develop a ball-joint-like, brushless, direct-drive spherical wheel motor (SWM) that offers a means to control the orientation of its rotating shaft. This thesis presents a general method for deriving a closed-form magnetic field solution for precise torque calculation. The method, referred here as distributed multi pole (DMP) modeling, inherits many advantages of the dipole model originally conceptualized in the context of physics, but provides an effective means to account for the shape and magnetization of the physical magnet. The DMP modeling method has been validated by comparing simulated fields and calculated forces against data obtained experimentally and numerically; the comparisons show excellent agreement. The DMP models provide a basis to develop a non-contact magnetic sensor for orientation sensing and control of a rotating shaft. Three controllers have been designed and experimentally implemented for the SWM; open-loop and PD with/without an observer. The OL control system, which decouples the spin from the shaft inclination, provides the fundamental design structure for the SWM and serves as a basis for designing feedback controllers with/without an observer.
Author: Mohammad Al Mashagbeh
Publisher:
ISBN:
Category :
Languages : en
Pages :
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Book Description
The ability of external magnetic fields to precisely control micromanipulator systems has received a great deal of attention from researchers in recent years due to its off-board power source. As these micromanipulators provide frictionless motion, and precise motion control, they have promising potential applications in many fields. Conversely, major drawbacks of electromagnetic micromanipulators, include a limited motion range compared to the micromanipulator volume, the inability to handle heavy payloads, and the need for a large drive unit compared to the size of the levitated object, and finally, a low ratio of the generated magnetic force to the micromanipulator weight. To overcome these limitations, we designed a novel electromagnetic finger micromanipulator that was adapted from the well-known spherical robot. The design and optimization procedures for building a three Degree of Freedoms (DOF) electromagnetic finger micromanipulator are firstly introduced. This finger micromanipulator has many potential applications, such as cell manipulation, and pick and place operations. The system consists of two main subsystems: a magnetic actuator, and an electromagnetic end-effector that is connected to the magnetic actuator by a needle. The magnetic actuator consists of four permanent magnets and four electromagnetic coils that work together to guide the micromanipulator finger in the xz plane. The electromagnetic end-effector consists of a rod shape permanent magnet that is aligned along the y axis and surrounded by an electromagnetic coil. The optimal configuration that maximizes the micromanipulator actuation force, and a closed form solution for micromanipulator magnetic actuation force are presented. The model is verified by measuring the interaction force between an electromagnet and a permanent magnet experimentally, and using Finite Element Methods (FEM) analysis. The results show an agreement between the model, the experiment, and the FEM results. The error difference between the FEM, experimental, and model data was 0.05 N. The micromanipulator can be remotely operated by transferring magnetic energy from outside, which means there is no mechanical contact between the actuator and the micromanipulator. Moreover, three control algorithms are designed in order to compute control input currents that are able to control the position of the end-effector in the x, y, and z axes. The proposed controllers are: PID controller, state-feedback controller, and adaptive controller. The experimental results show that the micromanipulator is able to track the desired trajectory with a steady-state error less than 10 μm for a payload free condition. Finally, the ability of the micromanipulator to pick-and-place unknown payloads is demonstrated. To achieve this objective, a robust model reference adaptive controller (MRAC) using the MIT rule for an adaptive mechanism to guide the micromanipulator in the workspace is implemented. The performance of the MRAC is compared with a standard PID controller and state-feedback controller. For the payload free condition, the experimental results show the ability of the micromanipulator to follow a desired motion trajectory in all control strategies with a root mean square error less than 0.2 mm. However, while there is payload variation, the PID controller response yields a non smooth motion with a large overshoot and undershoot. Similarly, the state-feedback controller suffers from variability of dynamics and disturbances due to the payload variation, which yields to non-smooth motion and large overshoot. The micromanipulator motion under the MRAC control scheme conversely follows the desired motion trajectory with the same accuracy. It is found that the micromanipulator can handle payloads up to 75 grams and it has a motion range of ∓ 15 mm in all axes.
Author: 陳民山
Publisher:
ISBN:
Category :
Languages : en
Pages : 167
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Book Description
