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Force Estimation Method for a Magnetic Lead-Screw-Driven Linear Actuator.

Authors :
Heya, Akira
Nakata, Yoshihiro
Sakai, Masahiko
Ishiguro, Hiroshi
Hirata, Katsuhiro
Source :
IEEE Transactions on Magnetics; Nov2018, Vol. 54 Issue 11, p1-5, 5p
Publication Year :
2018

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. [ABSTRACT FROM AUTHOR]

Details

Language :
English
ISSN :
00189464
Volume :
54
Issue :
11
Database :
Complementary Index
Journal :
IEEE Transactions on Magnetics
Publication Type :
Academic Journal
Accession number :
132478463
Full Text :
https://doi.org/10.1109/TMAG.2018.2845455