{"title":"Modelling and characterisation of a novel two-finger variable reluctance gripper","authors":"K. Chan, N. Cheung","doi":"10.1109/APEC.2001.912506","DOIUrl":null,"url":null,"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.","PeriodicalId":201844,"journal":{"name":"APEC 2001. Sixteenth Annual IEEE Applied Power Electronics Conference and Exposition (Cat. No.01CH37181)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2001-03-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"APEC 2001. Sixteenth Annual IEEE Applied Power Electronics Conference and Exposition (Cat. No.01CH37181)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/APEC.2001.912506","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
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.