Novel Integrated Electro-Mechanical Actuator
|Koen Meessen||PhD student|
|dr. ir. J.J.H. Paulides||Co-promotor|
|Prof. dr. E.A. Lomonova, M.Sc.||First promotor|
Fast and accurate modeling of the electromagnetic fields is a prerequisite to analyze and optimize electromagnetic actuators. Existing analytical modeling techniques are applied to describe magnetic fields in two dimensional structures. One specific technique that is widely used in analysis and design of electromagnetic devices is based on Fourier series to describe sources and resulting magnetic fields. In this research, this harmonic modeling technique is extended to describe the magnetic fields in three dimensional cylindrical structures. Furthermore, a model to calculate the force components of electromagnetic origin in these structures is derived.
This analytical modeling technique is used to design an actuator with two degrees of freedom. To improve the reliability and performance of robotic systems, multi degree of freedom (DoF) electromagnetic actuators emerge to replace mechanically stacked actuators. An example of such a system is a pick and place (P&P) machine, used to place surface mounted devices on printed circuit boards. This system typically provides four degrees of freedom; movement in xyz, and rotation about the z-axis to position the component in the correct orientation. This research focuses on the analysis and design of a 2-DoF rotary linear-actuator to be used in a P&P machine.
A new topology of a 2-DoF electromagnetic actuator is devised after investigation of actuators described in literature. This topology can be used to replace current rotary-linear manipulators in pick and place machines and improve the throughput of these systems. An electromagnetic model of the new topology of the 2-DoF actuator is derived and used in optimization to meet the requirements. A prototype of this actuator is manufactured and experimental validation is performed.