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.
Published Version
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