Abstract
An electropermanent magnet (EM) can be fixed or rotated without applying the additional power of a wobble motor. This consists of a neodymium magnet and semi-hard magnet. A model to design a wobble motor for a wobble gripper without finite element analyses and to predict the attraction force according to the permanent magnet and current is necessary. In this paper, a force model is derived using distribution parameter and magnetic circuit analyses, including flux loss and fringing effects. It is not easy to design a complete magnetic circuit model considering the loss effects, but it can be constructed using a relatively straightforward method that simplifies the paths of leaked fluxes into arcs and straight lines. The model was verified by comparing the results of finite element analyses with measurements of two prototypes using internal and external fixed cases. The model properly predicts the attractive force between the rotor and stator and can be used in the initial design of a gripper that holds or rotates with the electropermanent magnet.
Highlights
As the development of industrial technology is changing to unmanned and automatic systems to improve productivity and competitiveness, the importance of motors, as a component part of the system, is gradually increasing
This paper presents a method that considers the leakage magnetic flux in increasing the accuracy of a circuit model, including the electromagnet and electro permanent magnet used in the method of driving and fixing the wobble motor for the proposed gripper
We present a partial differential equation for the electromagnetic field, expressed as a continuous function over time and space using the distribution parameter method
Summary
As the development of industrial technology is changing to unmanned and automatic systems to improve productivity and competitiveness, the importance of motors, as a component part of the system, is gradually increasing. It has become possible to manufacture precision small motors with high performance owing to the development in the material field, including a permanent magnet material and the advancement of precision processing and manufacturing technology. These motors are manufactured in various ways. New actuator shapes have been developed using physical and chemical phenomena, such as electrostatic force, electromagnetic force, shape-memory alloy (SMA), smart polymers, and so on Since some of these materials are difficult to control, there are limitations to using them. The typical gripper driving by electromagnetic force is composed of a motor and a reduction gear device for driving.
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