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

Volume

50

Issue

6

fYear

2014

fDate

Nov.-Dec. 2014

Firstpage

3628

Lastpage

3636

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;

fLanguage

English

Journal_Title

Industry Applications, IEEE Transactions on

Publisher

ieee

ISSN

0093-9994

Type

jour

DOI

10.1109/TIA.2014.2313066

Filename

6777272