Abstract
A magnetic levitation gravity compensator is designed based on the remanent rewritable characteristics of variable flux permanent magnets. It adopts a coaxial symmetrical structure, which maximizes the use of stray flux and reduces the use of the magnet core, thereby increasing the repulsive density of the device. Through simulation optimization of the design scheme, we extracted the optimal design parameters, so that the repulsion and stiffness displacement characteristics of the working stroke meet the requirements of system self-recovery. At the same time, we have analysed the repulsion and stiffness displacement characteristics of the magnetic levitation gravity compensator. According to Lyapunov stability theory, we designed the dynamic control system of the device and established the workflow of the system. We verified the effectiveness of the design of the device and the reliability of the control system through experiments on the engineering prototype.
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