JThis paper concerns the design, optimization and commutation of a six degree-of-freedom planar actuator with active magnetic bearing. The planar motor has a stationary coils Z array and a translator with a Halbach magnet array. During movements in the xy-plane, the set of energized coils changes with the position of the translator. In this paper a method forI the electromagnetic design of this type of actuator is discussed G and several topologies are compared.

This paper presents three types of magnetostatic models of ironless planar actuators with moving magnets. The models predict the force and torque exerted on the translator of the actuator, which can be positioned in six degrees-of-freedom with respect to the stator coils. The force and torque are calculated with the Lorentz force law. The analytical and numerical models can be used for the design of large planar actuators, for the fast comparison of actuator topologies, and in the decoupling and commutation algorithm. The models have been verified with experiments.

Document VersionPublisher's PDF, also known as Version of Record (includes final page, issue and volume numbers)Please check the document version of this publication:• A submitted manuscript is the author's version of the article upon submission and before peer-review. There can be important differences between the submitted version and the official published version of record. People interested in the research are advised to contact the author for the final version of the publication, or visit the DOI to the publisher's website.• The final author version and the galley proof are versions of the publication after peer review.• The final published version features the final layout of the paper including the volume, issue and page numbers. Link to publication General rightsCopyright and moral rights for the publications made accessible in the public portal are retained by the authors and/or other copyright owners and it is a condition of accessing publications that users recognise and abide by the legal requirements associated with these rights.• Users may download and print one copy of any publication from the public portal for the purpose of private study or research.• You may not further distribute the material or use it for any profit-making activity or commercial gain • You may freely distribute the URL identifying the publication in the public portal ? Take down policyIf you believe that this document breaches copyright please contact us providing details, and we will remove access to the work immediately and investigate your claim. In this paper, an overview of analytical techniques for the modeling of linear and planar permanent-magnet motors is given. These models can be used complementary to finite element analysis for fast evaluations of topologies, but they are indispensable for the design of magnetically levitated planar motors and other coreless multi-degrees of freedom motors, which are applied in (ultra) high-precision applications. The analytical methods describe the magnetic fields based on magnetic surface charges and Fourier series in 2-D and 3-D.

No abstract

No abstract