| A magnetically levitated planar actuator is a sample of a multiple degree offreedom electromechanical actuator. It is an alternative to xy-drives, which isconstructed of stacked linear motors, in high-precision industrial applications. The mainadvantage of this actuator is that no cables from the stator to the translator are required.Only coils below the surface of the magnet array effectively contribute to its levitationand propulsion.The contactless, magnetically levitated, planar actuator with moving magnets(HPPA) has been constructed,This paper gives the detailed procedure in overallmagnetic motor design, finishing the magnet material selection and arrangement of thecoils, thus avoiding the position shift occurred once the coils are energized. The detaileddrawing of engineering design, a three-dimensional renderings of the magneticallylevitated planar actuator is also given with solidworks software.The theoretical method is given in the two-dimensional moving Halbach magnetarray, is also verified with ANSYS/Emag software, which is a finite element software,such as unilateral, sinusoidal etc, which is a foundation for the subsequent analysis ofmagnetic motor.The derivation of the electromagnetic force is given when a single coil is energized.With the reasonable assumptions, also based on a conceptual model, the multi-degreeof freedom magnetic motor power dynamics model is built and the dynamics equation isalso given in this paper.In the last chapter of this paper, the idea of Euler angles is introduced. Combinedthe characteristics of magnetically levitated such as weight, moment of inertia etc,considering uncertainties under the effect of a single degree of freedom, we give theconceptionk k1kand write the vertical state space equation. In the analysis ofmulti-degree of freedom of this object, first we list six state variables, followed by thelinearization of the force when the coils is charged, finally six degrees of freedom statespace equation is given in this paper. |
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