NDLI: A high bandwidth low inertia motor for haptic rendering based on clutched eddy current effects

Content Provider	IEEE Xplore Digital Library
Author	Xinyi Ge Shih-Kang Peng Boyun Wang Shapiro, J. Gillespie, B. Salisbury, C.
Copyright Year	2012
Description	Author affiliation: Department of Mechanical Engineering, University of Michigan, Ann Arbor, USA (Xinyi Ge; Shih-Kang Peng; Boyun Wang; Shapiro, J.; Gillespie, B.) \|\| Intelligent Systems, Robotics and Controls, Sandia National Laboratories, USA (Salisbury, C.)
Abstract	The capacity of a conventional haptic device to render a mechanical impedance that approximates free space requires actuators with exceptionally low rotor inertia. Reducing rotor inertia in a DC motor design invariably means reducing the peak torque output, which in turn compromises the device's ability to render stiff, massive objects. To meet the large dynamic range requirement in haptic device applications without compromise, we present the design of an actuator that produces high torque on a low inertia rotor through the use of the eddy current braking effect. Eddy currents couple the rotor to a spinning, motorized stator through the action of a torque proportional to relative speed. In our design, permanent magnets are fixed to a two-part stator such that magnetic fields with alternating polarity transect a thin, aluminum disk-shaped rotor. By shifting the relative angular position of the two opposing stator parts under motor control, the magnetic fields traversing the rotor can be modulated between near zero and full intensity. Thus the torque output is effectively clutched under computer control. In this paper we analyze the limits to the speed of response of this design and present characterization results obtained using a prototype device.
Starting Page	83
Ending Page	89
File Size	2229482
Page Count	7
File Format	PDF
ISBN	9781467308083
e-ISBN	9781467308090
e-ISBN	9781467308076
DOI	10.1109/HAPTIC.2012.6183774
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-03-04
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Rotors Stators Torque Magnetomechanical effects Magnetic levitation Eddy currents Damping
Content Type	Text
Resource Type	Article

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