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Analysis and Modeling of Attractive Force Using an Electropermanent Magnet and Electromagnetic in a Novel Wobble Gripper

Department of Mechanical Engineering, Yonsei University, Seoul 03722, Korea
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Actuators 2020, 9(4), 116; https://doi.org/10.3390/act9040116
Received: 28 September 2020 / Revised: 23 October 2020 / Accepted: 11 November 2020 / Published: 14 November 2020
(This article belongs to the Section Actuators for Robotics)
An electropermanent magnet (EM) can be fixed or rotated without applying the additional power of a wobble motor. This consists of a neodymium magnet and semi-hard magnet. A model to design a wobble motor for a wobble gripper without finite element analyses and to predict the attraction force according to the permanent magnet and current is necessary. In this paper, a force model is derived using distribution parameter and magnetic circuit analyses, including flux loss and fringing effects. It is not easy to design a complete magnetic circuit model considering the loss effects, but it can be constructed using a relatively straightforward method that simplifies the paths of leaked fluxes into arcs and straight lines. The model was verified by comparing the results of finite element analyses with measurements of two prototypes using internal and external fixed cases. The model properly predicts the attractive force between the rotor and stator and can be used in the initial design of a gripper that holds or rotates with the electropermanent magnet. View Full-Text
Keywords: electropermanent magnet; wobble motor; wobble gripper; magnetic circuit; flux leakage; force model; fringing effect electropermanent magnet; wobble motor; wobble gripper; magnetic circuit; flux leakage; force model; fringing effect
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MDPI and ACS Style

Park, S.Y.; Lee, D.; Song, B.; Baek, Y.S. Analysis and Modeling of Attractive Force Using an Electropermanent Magnet and Electromagnetic in a Novel Wobble Gripper. Actuators 2020, 9, 116. https://doi.org/10.3390/act9040116

AMA Style

Park SY, Lee D, Song B, Baek YS. Analysis and Modeling of Attractive Force Using an Electropermanent Magnet and Electromagnetic in a Novel Wobble Gripper. Actuators. 2020; 9(4):116. https://doi.org/10.3390/act9040116

Chicago/Turabian Style

Park, Sang Y., Dongyoung Lee, Buchun Song, and Yoon S. Baek 2020. "Analysis and Modeling of Attractive Force Using an Electropermanent Magnet and Electromagnetic in a Novel Wobble Gripper" Actuators 9, no. 4: 116. https://doi.org/10.3390/act9040116

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