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

Author

Donca, R.C. ; Popa, D.C. ; Balan, R. ; Iancu, V. ; Manic, M.

Author_Institution

Dept. of Mechanisms, Prec. Mech. & Mechatron., Tech. Univ. of Cluj-Napoca, Cluj-Napoca, Romania

fYear

2010

fDate

10-12 Aug. 2010

Firstpage

91

Lastpage

94

Abstract

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.

Keywords

actuators; finite element analysis; linear motors; machine control; manipulator kinematics; manipulators; reluctance machines; 3D finite element method; Isoglide T3R1 parallel robot; actuator control; flux density distribution; linear transverse flux motor; tangential force; variable reluctance principle; Coils; Force; Parallel robots; Reluctance motors; Stators; Teeth; Voltage control;

fLanguage

English

Publisher

ieee

Conference_Titel

Resilient Control Systems (ISRCS), 2010 3rd International Symposium on

Conference_Location

Idaho Falls, ID

Print_ISBN

978-1-4244-5955-1

Type

conf

DOI

10.1109/ISRCS.2010.5604261

Filename

5604261