Force Estimation Method for a Magnetic Lead-Screw-Driven Linear Actuator
Force Estimation Method for a Magnetic Lead-Screw-Driven Linear Actuator
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DOI：
10.1109/tmag.2018.2845455
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发表时间：
2018-08
影响因子：
2.1
通讯作者：
A. Heya;Y. Nakata;M. Sakai;H. Ishiguro;K. Hirata
中科院分区：
文献类型：
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作者：
A. Heya;Y. Nakata;M. Sakai;H. Ishiguro;K. Hirata
力可控执行器对于保障人机交互的安全至关重要。磁力丝杠（MLSs）在部件之间无需接触即可传递力。这些装置能够高效驱动部件且无摩擦接触，并且在过载时力是受限的。我们研发了一种不包含螺旋永磁体的新型磁力丝杠以及一种使用该装置的磁力丝杠驱动线性执行器（MLSDLA）。这种简单的结构减小了装置的整体尺寸并提高了生产效率，因为它是由常用的机加工丝杠作为丝杠构建的。该执行器能够抵抗外力驱动回位，并基于磁弹簧效应灵活移动。在本文中，我们提出了一种无需单独传感器的MLSDLA力估算方法。从执行器的角位移和线位移测量得到的磁相位差被用于此计算。然后将估算的力与用负载传感器记录的测量值进行比较，以验证所提方法的有效性。
Force-controllable actuators are essential for guaranteeing safety in human–robot interactions. Magnetic lead screws (MLSs) transfer force without requiring contact between parts. These devices can drive the parts with high efficiency and no frictional contact, and they are force limited when overloaded. We have developed a novel MLS that does not include spiral permanent magnets and an MLS-driven linear actuator (MLSDLA) that uses this device. This simple structure reduces the overall size of the device and improves productivity because it is constructed by a commonly used machined screw as a screw. The actuator can drive back against an external force and it moves flexibly based on the magnetic spring effect. In this paper, we propose a force estimation method for the MLSDLA that does not require separate sensors. The magnetic phase difference, as measured from the angular and linear displacements of the actuator, is used for this calculation. The estimated force is then compared against measurements recorded with a load sensor in order to verify the effectiveness of the proposed method.