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Magnetic field modeling is extremely important for electromagnetic (EM) driven spherical actuators. This paper proposes a novel mathematic modeling method based on equivalent energized coil and Biot–Savart law to formulate the complex magnetic field distribution in three-dimensional (3D) space. The energized coil model is employed as an equivalent substitution of cylindrical permanent magnet (PM)...
Spherical actuator is a device that can achieve multiple degree-of-freedom (DOF) rotary motions in a single joint. This paper proposes a spherical actuator with approximated dihedral cone shaped rotor. To formulate the magnetic field in three dimensional space, Laplace equation is used. By adding the fundamental terms, a more accurate numerical model is set up. It is validated by FEM results in three...
Unlike conventional two-dimensional (2D) magnet array in electromagnetic spherical actuators, a novel 3D magnetic pole array is proposed to improve the actuator torque output. This paper proposes a mathematic modeling method based on the equivalent energized coil and Biot-Savart law to formulate the complex magnetic field distribution of the spherical rotor in 3D space. The energized coil model is...
An electromagnetic linear motor with double-sided back irons is proposed in this paper. The magnetic field is formulated analytically based on magnetic vector potential and Laplace's equations. The simulation result is compared with numerical result from finite element calculation. It shows that the analytical model fits with numerical result closely. The magnetic field model is employed to analyze...
Ferromagnetic material affects the magnetic field of electromagnetic actuators significantly. This paper studies the effect of back iron on magnetic field of linear motors. Designs of linear motors with single-sided, double-sided, and without back irons are analyzed quantitatively. The magnetic field for different structures is formulated analytically based on magnetic vector potential. The simulation...
The magnetization patterns of permanent magnets affect the magnetic field distribution of electromagnetic machines significantly. A tubular linear machine with double-layered Halbach arrays is proposed in this paper to enhance the magnetic flux density, and thus the force output. The magnetic field of the machine is formulated analytically with vector potential and Bessel's functions. The analytical...
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