Title :
Multi-Degree-of-Freedom Spherical Permanent-Magnet Gravity Compensator for Mobile Arm Support Systems
Author :
Van Ninhuijs, B. ; Jansen, J.W. ; Gysen, B.L.J. ; Lomonova, E.A.
Author_Institution :
Dept. of Electr. Eng., Group of Electromech. & Power Electron., Eindhoven Univ. of Technol., Eindhoven, Netherlands
Abstract :
This paper presents a magnetic gravity compensator, which is able to provide compensation about two axes of rotation for mobile arm support systems. Because of the compensation about two axes, it provides more flexibility than the existing mechanical gravity compensators. This flexibility is achieved by using two semispherical permanent magnets, where the inner semisphere can rotate about the x-, y-, and z-axis with respect to the outer semisphere. Several magnetization topologies, which are evaluated using 2-D finite-element analysis (FEA), are investigated, and the most suitable topology is optimized in 2-D FEA. The optimization results are verified with 3-D FEA.
Keywords :
finite element analysis; magnetisation; manipulators; permanent magnets; 2-D finite-element analysis; 3-D FEA; magnetic gravity compensator; magnetization topologies; mechanical gravity compensators; mobile arm support systems; multidegree-of-freedom spherical permanent-magnet gravity compensator; semispherical permanent magnets; Gravity; Joints; Magnetization; Permanent magnets; Shoulder; Topology; Torque; Finite-element analysis (FEA); gravity compensation; permanent magnets; semisphere;
Journal_Title :
Industry Applications, IEEE Transactions on
DOI :
10.1109/TIA.2014.2313066
