Design and control of a novel type of actuator for the Isoglide T3R1 Parallel Robot

This paper deals with a new type of actuator which can be used for the driving of an Isoglide T3R1 Parallel Robot. The proposed machine is a linear transverse flux motor operating based on the variable reluctance principle. The topology of the motor is presented. A 3D finite element method analysis is carried out on a small dimension structure, evidencing the flux density distribution and the developed tangential and normal forces. The control strategies of this motor are approached. Experimental setup is presented in the final part of the paper.