1. Force Estimation Method for a Magnetic Lead-Screw-Driven Linear Actuator
- Author
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Yoshihiro Nakata, Katsuhiro Hirata, Akira Heya, Hiroshi Ishiguro, and Masahiko Sakai
- Subjects
010302 applied physics ,Computer science ,020208 electrical & electronic engineering ,Magnetic separation ,02 engineering and technology ,Linear actuator ,01 natural sciences ,Magnetic spring ,Electronic, Optical and Magnetic Materials ,Computer Science::Robotics ,Control theory ,Magnet ,0103 physical sciences ,0202 electrical engineering, electronic engineering, information engineering ,Magnetic phase ,Electrical and Electronic Engineering ,Lead (electronics) ,Actuator ,Spiral - Abstract
Force-controllable actuators are essential for guaranteeing safety in human–robot interactions. Magnetic lead screws (MLSs) transfer force without requiring contact between parts. These devices can drive the parts with high efficiency and no frictional contact, and they are force limited when overloaded. We have developed a novel MLS that does not include spiral permanent magnets and an MLS-driven linear actuator (MLSDLA) that uses this device. This simple structure reduces the overall size of the device and improves productivity because it is constructed by a commonly used machined screw as a screw. The actuator can drive back against an external force and it moves flexibly based on the magnetic spring effect. In this paper, we propose a force estimation method for the MLSDLA that does not require separate sensors. The magnetic phase difference, as measured from the angular and linear displacements of the actuator, is used for this calculation. The estimated force is then compared against measurements recorded with a load sensor in order to verify the effectiveness of the proposed method.
- Published
- 2018