Modelling and characterisation of a novel two-finger variable reluctance gripper

APEC 2001. Sixteenth Annual IEEE Applied Power Electronics Conference and Exposition (Cat. No.01CH37181) Pub Date : 2001-03-04 DOI:10.1109/APEC.2001.912506

K. Chan, N. Cheung

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引用次数: 3

Abstract

The variable reluctance (VR) actuator has a simple and robust structure. VR actuator does not have a permanent magnet. It is low-cost, easy-to-manufacture, highly reliable and can operate in hostile temperatures. However, it is inherently nonlinear, and is difficult to control and operate as a proportional device. With the advancement of digital signal processing and power electronic drives in recent years, VR actuators have redrawn research interests. The paper describes the investigation and development of a novel two-finger gripper using VR technology. A novel two-finger VR gripper is proposed and fabricated. Measurement and characterization of the actuator is carried out and a mathematical model of the actuator is constructed. Finally, model is simulated and it is verified with experimental results. The actuator exhibits pseudo-linear properties and it is suitable for position and force control applications. The results show that the proposed actuator is an ideal replacement for the higher-cost and less-robust permanent magnet actuators.

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一种新型两指可变磁阻夹持器的建模与表征

变磁阻作动器结构简单、鲁棒性好。VR执行器没有永磁体。它成本低，易于制造，高度可靠，可以在恶劣的温度下工作。然而，它本身是非线性的，难以作为比例装置进行控制和操作。近年来，随着数字信号处理和电力电子驱动技术的进步，虚拟现实执行器重新引起了人们的研究兴趣。本文介绍了一种基于虚拟现实技术的新型双指夹持器的研究与开发。提出并制作了一种新型的双指虚拟现实夹持器。对作动器进行了测量和表征，建立了作动器的数学模型。最后对模型进行了仿真，并与实验结果进行了验证。该驱动器具有准线性特性，适用于位置和力的控制。结果表明，该驱动器是成本较高、鲁棒性较差的永磁驱动器的理想替代品。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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APEC 2001. Sixteenth Annual IEEE Applied Power Electronics Conference and Exposition (Cat. No.01CH37181)

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