Research of Mechanism of Inductive Maglev Spherical Driving Joint

ZENG Li; CHEN Qiuyue; ZHANG Xiaohong

doi:10.1049/cje.2016.01.005

Volume 25 Issue 1

Turn off MathJax

Article Contents

Article Navigation > Chinese Journal of Electronics > 2016 > 25(1): 26-32

ZENG Li, CHEN Qiuyue, ZHANG Xiaohong, “Research of Mechanism of Inductive Maglev Spherical Driving Joint,” Chinese Journal of Electronics, vol. 25, no. 1, pp. 26-32, 2016, doi: 10.1049/cje.2016.01.005

Citation:

ZENG Li, CHEN Qiuyue, ZHANG Xiaohong, “Research of Mechanism of Inductive Maglev Spherical Driving Joint,” Chinese Journal of Electronics, vol. 25, no. 1, pp. 26-32, 2016, doi: 10.1049/cje.2016.01.005

Citation:

PDF( 2312 KB)

Research of Mechanism of Inductive Maglev Spherical Driving Joint

doi: 10.1049/cje.2016.01.005

College of Mechanical Engineering, Yangzhou University, Yangzhou 225127, China

Funds: This work is supported by the National Natural Science Foundation of China (No.51375427), the Jiangsu Natural Science Foundation (No.BK20131232), and the City of Yangzhou and Yangzhou University Cooperation Projects (No.YZ2011152).

Received Date: 2014-03-10
Rev Recd Date: 2014-05-27
Publish Date: 2016-01-10

Abstract

Abstract

The multi-degree-of-freedom inductive spherical driving joint owns high mechanical integrity and has advantages such as control and trajectory planning. Because of its limit of rotor pose, instant stepping angle and inability to spin around any axis through center of sphere, the suspension and rotation precision of spherical reluctance driving joint isn't high and the response speed can't reach the best. Based on mechanism of rotation and suspension, due to distribution of air gap magnetic induction intensity, a novel inductive maglev spherical driving joint was presented, and electromagnetic suspending force and electromagnetic torque were established. Analyze the magnetic induction intensity, electromagnetic suspending force and electromagnetic torque through finite element simulation, build a bench test of maglev spherical driving joint, and do testing research on displacement characters and suspension and rotation characters of joint rotor.

FullText(HTML)

References(10)

References

MAO Xintao, BAO Gang and YANG Qingjun, “Joint torque control for the pneumatically robotic manipulator with 3 degrees of freedom”, Chinese Journal of Mechanical Engineering, Vol.44, No.12, pp.254-260, 2008.

Li Jian, Li Jianfeng and Wu Zhen, “Fault tolerance of redundant manipulators when multi-Joint failed and its optimization”, Chinese Journal of Mechanical Engineering, Vol.38, No.7, pp.111-115, 2002.

ZENG Li, ZHANG Dan and DAI Min, “Maglev spherical reluctance motor with centripetal thrust or pull”, Patent, 200920039032.7, China, 2010-02-17.

ZENG Li and ZHANG Dan, “Switch reluctance driving joint with magnetic levitation”, Patent, 200920040447.6, China, 2010-01-13.

Zeng Li, Wang Jun and Zhang Dan, “Mechanism of magnetic force and electromagnetic torque for spherical reluctance motor with magnetic levitation”, China Mechanical Engineering, Vol.2, No.1, pp.208-211, 2011.

Zeng Li, Zhang Fan and Zhang Dan, “Force and torque study of magnetic levitation spherical driving joint with magnetic field segmentation method”, Przeglad Elektrotechniczny, Vol.88, No.7B, pp.235-238, 2012. (in Polish)

Zhang Fan, Zeng Li and Chen Fang, “Study of magnetic levitation spherical joint with decoupling control”, Przeglad Elektrotechniczny, Vol.88, No.7B, pp.239-242, 2012. (in Polish)

Zeng Li, Wang Jun and Xu Yuanyuan, “Spherical reluctance driving joint with magnetic invitation modeling and inverse system decoupling control”, Journal of Mechanical Engineering, Vol.17, No.9, pp.15-21, 2011. (in Chinese)

Zeng Li, Zhang Fan and Xu Yuanyuan, “Three-dimensional dynamical model and controlled characteristics of magnetic levitation spherical reluctance driving joint”, Journal of Mechanical Engineering, Vol.21, No.11, pp.69-75, 2011. (in Chinese)

Seiji SHIMURA, Yohji OKADA, Tetsuo OHISHI, et al, “Analysis and control of an induction-type levitated rotating motor”. Collected Papers of Japanese Society of Mechanical Engineers Series C, Vol.61, No.591, pp.4202-4207, 1995.

Relative Articles

Supplements(0)

Cited By

Proportional views