Proceedings of the 3rd Annual International Conference on Mechanics and Mechanical Engineering (MME 2016)

Electromagnetic Driving Modal and Control of Magnetic Levitation Spherical Active Joint

Authors
Fan Zhang, Li Zeng, Zhi-Da Zhu, Jin Sun
Corresponding Author
Fan Zhang
Available Online December 2016.
DOI
https://doi.org/10.2991/mme-16.2017.106How to use a DOI?
Keywords
Magnetic levitation, Sphere active joint, States reconstruction, Control characteristic.
Abstract
The traditional universal driving joint has the friction and wear, so its moving parts would get hot and its dynamic performance would become worse when working. Based on the Integration of motors, magnetic levitation, robotics and other techniques, a novel magnetic levitation spherical reluctance active joint with multi-degree-of-freedom is proposed, which is a kind of mechatronical driving structure with compact structure and high integration of mechanical and electrical elements, which has advantages in control and trajectory planning. The distribution of air-gap magnetic conductance in the joint is derived with the magnetic field segmentation method, and the conversion principle model between electronical energy and mechanical energy of the joint's air gap magnetic-energy is established, and then the magnetic levitation force and magnetic torque produced by the joint are derived. The integrated control system is established for the joint system, and the simulation results show that this joint system has good dynamic and static performance.
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This is an open access article distributed under the CC BY-NC license.

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Proceedings
3rd Annual International Conference on Mechanics and Mechanical Engineering (MME 2016)
Part of series
Advances in Engineering Research
Publication Date
December 2016
ISBN
978-94-6252-303-6
ISSN
2352-5401
DOI
https://doi.org/10.2991/mme-16.2017.106How to use a DOI?
Open Access
This is an open access article distributed under the CC BY-NC license.

Cite this article

TY  - CONF
AU  - Fan Zhang
AU  - Li Zeng
AU  - Zhi-Da Zhu
AU  - Jin Sun
PY  - 2016/12
DA  - 2016/12
TI  - Electromagnetic Driving Modal and Control of Magnetic Levitation Spherical Active Joint
BT  - 3rd Annual International Conference on Mechanics and Mechanical Engineering (MME 2016)
PB  - Atlantis Press
SN  - 2352-5401
UR  - https://doi.org/10.2991/mme-16.2017.106
DO  - https://doi.org/10.2991/mme-16.2017.106
ID  - Zhang2016/12
ER  -