Design and Analysis of Electromagnetic Tilting Actuators

verfasst von

Michael Dörbaum, Svenja Tappe, Tobias Ortmaier, Bernd Ponick

Abstract

This paper studies the design and the behavior of bistable electromagnetic tilting actuators (ETA). A serial chain of these actuators can be utilized as a medical or industrial endoscope. With the concept presented here, it is possible to unite flexibility and high stiffness in one shaft. An ETA is able to switch between defined positions through a tilting movement. The mechanical movement is driven by an electromagnetic torque, which is powered by a magneto motive force in the coils of the ETA. The tilting torque is mainly influenced by the design of the magnetic path inside the ETA cores. The ETA chain is operated using a 'Follow the Leader' control. Therefore, very fast calculation methods are necessary to evaluate power-on-durations and subsequently influence the tilting process itself. In this paper, the physical effects while operating are analyzed and the necessary calculation methods are elaborated. Since very high currents are applied for tilting, the electric network calculation includes a thermal model to consider the thermally driven asymmetric increase of resistivity as well. The analysis of the operational characteristic of the ETA is the basis of the time-efficient combined calculation method. Using this combined calculation, a complete tilting process of one or more ETA can be calculated in advance considering the chain configuration and external forces. Using this method, optimized power-on-durations can be evaluated, for which the tilting process itself is successful and no unintended impulsive forces are applied to the chain. The validation with measurements has proven the accuracy of the initial model (without parameter fitting) to a deviation of 15% at most with a very small calculation time effort within seconds.

Organisationseinheit(en)

Institut für Antriebssysteme und Leistungselektronik
Institut für Mechatronische Systeme

Typ

Artikel

Journal

IEEE/ASME Transactions on Mechatronics

Band

24

Seiten

2171-2181

Anzahl der Seiten

11

ISSN

1083-4435

Publikationsdatum

10.2019

Publikationsstatus

Veröffentlicht

Peer-reviewed

Ja

ASJC Scopus Sachgebiete

Steuerungs- und Systemtechnik, Angewandte Informatik, Elektrotechnik und Elektronik

Elektronische Version(en)

https://doi.org/10.1109/tmech.2019.2929735 (Zugang: Geschlossen)