Development of Spring Actuator Stacked of Iron Powder Layers with Electromagnetic Control

提出了一种新型的弹簧作动器，该作动器可以采用PID控制等常用控制方法进行控制。驱动器由通常的螺旋线圈弹簧和一些铁（铁氧体）粉末层组成。铁层由含有铁颗粒的硅基粘合材料制成。这些层被粘贴到线圈弹簧上，每层之间有一定的气隙。为了实现伸展运动和压缩运动，弹簧的顶部附着一块永磁体，电磁铁附着在基座上，执行器顶部的运动由电磁铁线圈中的电流控制。提出了一种作动器的成形方法，给出了作动器的设计公式。特别是，与其他执行机构相比，其尺寸虽小，但工作面积足够大。将该作动器应用于隔振系统，在本文提出的扰动消除控制方法下，确定了该作动器能控制振动体的振动显著减小。

A new spring type actuator is presented in which controls are possible by using usual control methods such as PID control. The actuator consists of a usual helical coil spring and a number of iron (ferrite) powder layers inside. The iron layers are made of silicon based adhesive material involving iron particles. The layers are pasted to the coil spring with a certain air gap between each layer. To achieve both extensive and compressive motions, a permanent magnet is attached to the top of the spring and electromagnet to the base, and the motion of the top of the actuator is controlled by electric currents in the coil of the electromagnet. A method of forming the actuator is presented, and its design formulae are presented. Especially, the work area is large enough in spite of the size being small in comparison with other actuators. The actuator is utilized to a vibration isolation system, and it is ascertained that the actuator can control vibrations of the vibrating body to be significantly small under the disturbance cancellation control method developed by the present author.