Design for cogging torque reduction in two-degree-of-freedom cylindrical actuator

Recently, the drive mechanism is complex configurations as the electronic component mounting apparatus and the machine tool are high performance. The head portion of those is the drive mechanism with two-degree-of-freedom of rotary and linear motion. Conventional two-degree-of-freedom drive is composed of 2 motors and mechanical elements[1]. However, it is huge, heavy and in need of maintenance by abrasion. Thus, authors have developed the two-degree-of-freedom cylindrical actuator (2DoFCA) designed as 8 poles 6 slots Permanent magnet synchronous motor (PMSM) in rotary direction and 7 poles 6 slots Permanent magnet linear synchronous motor (PMLSM)[2][3]. The proposal actuator is expected to apply a electronic component mounter. This paper proposes the cogging torque is reduced by changing the shape of stator and mover salient pole. As a result, it was confirmed that the cogging torque was reduced by 79.6%.