Modeling of Laterally Sliding Motion of a Magnetic Clamp

A Mahmud,L Baron,J R R Mayer

doi:10.1155/2015/707043

Abstract

A sliding magnetic clamp is used to hold a thin aluminum panel during a milling operation. The design includes a permanent magnet group follower (slave module) which slides laterally over the panel attracted by another permanent magnet group (master module) attached to the industrial robot end effector from the machined side of the panel. The lateral sliding motion of the slave module in response to the master module motion is studied using a transfer function based motion model established considering the lateral magnetic stiffness. The model is validated experimentally.

Highlights

This paper proposes a model for the lateral sliding motion of the master-to-slave module by magnetic attraction forces
The transfer function validation experiment is designed without milling operation
Two identical accelerometers are attached to the master module and the slave module (Figure 16)

Summary

Introduction

This paper proposes a model for the lateral sliding motion of the master-to-slave module by magnetic attraction forces. A cylindrical permanent magnet can generate both axial and radial forces. The slave module laterally follows the master module motion during machining operation. This slave motion caused by the master-slave magnetic attraction force has not yet been modeled. Later Mahmud et al [6] modeled the lateral attraction force between cylindrical permanent magnets at different axial gap considering lateral displacement. A model is needed to describe the slave motion resulting from lateral magnetic attraction force between master and slave module. This paper develops the transfer function between the master module motion and slave module motion.

Transfer Function Modeling

System Parameter Identification

Experiments and Results

Conclusion