Gravity compensation mechanism with torque adjustment using magnetic energy

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics Pub Date : 2024-12-04 DOI:10.1016/j.mechatronics.2024.103279

Leimeng Shan , Weizhen Zhu , Kyung-min Lee

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引用次数: 0

Abstract

In this paper, a gravity compensation mechanism using non-contact magnetic energy is proposed. The non-contact magnetic torque enabled a working range of over 360° and an adjustable maximum compensation torque from 32 to 72 Nm. The proposed mechanism has a simple structure consisting of two stators and a rotating rotor. The stator consists of a yoke and two fan-shaped permanent magnets (PMs) that are magnetized axially and attached to one side of the yoke in different magnetization directions. The rotor consisted of two PMs and a rotating axis. A total of six PMs form a magnetic flux circulation. The rotation of the rotor cuts the magnetic flux circulation and generates the magnetic attraction and repulsion forces between the PMs. The shapes of the PMs are designed to generate the desired sinusoidal torque profiles over 360° and to maximize the compensation torque. The detailed design parameters of the PM and yoke were determined using finite element analysis. It was experimentally verified that the mechanism generates the expected torque and reduces the output torque and average power consumption of a driving motor.

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重力补偿机构，利用磁能调节转矩

本文提出了一种利用非接触磁能的重力补偿机制。非接触式磁转矩的工作范围超过360°，最大补偿扭矩可调，范围为32至72 Nm。该机构结构简单，由两个定子和一个旋转转子组成。定子由一个磁轭和两个扇形永磁体组成，这两个永磁体轴向磁化，并以不同的磁化方向附着在磁轭的一侧。转子由两个pm和一个旋转轴组成。总共6个pm形成一个磁通量循环。转子的旋转切断了磁通量循环，并在永磁转子之间产生磁吸引和斥力。pm的形状被设计成产生所需的正弦扭矩轮廓超过360°，并最大限度地提高补偿扭矩。通过有限元分析，确定了PM和轭架的详细设计参数。实验验证了该机构能产生预期的转矩，降低了驱动电机的输出转矩和平均功耗。

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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来源期刊

Mechatronics 工程技术-工程：电子与电气

CiteScore

5.90

自引率

9.10%

发文量

审稿时长

109 days

期刊介绍： Mechatronics is the synergistic combination of precision mechanical engineering, electronic control and systems thinking in the design of products and manufacturing processes. It relates to the design of systems, devices and products aimed at achieving an optimal balance between basic mechanical structure and its overall control. The purpose of this journal is to provide rapid publication of topical papers featuring practical developments in mechatronics. It will cover a wide range of application areas including consumer product design, instrumentation, manufacturing methods, computer integration and process and device control, and will attract a readership from across the industrial and academic research spectrum. Particular importance will be attached to aspects of innovation in mechatronics design philosophy which illustrate the benefits obtainable by an a priori integration of functionality with embedded microprocessor control. A major item will be the design of machines, devices and systems possessing a degree of computer based intelligence. The journal seeks to publish research progress in this field with an emphasis on the applied rather than the theoretical. It will also serve the dual role of bringing greater recognition to this important area of engineering.