This paper presents a two-level geometric calibration method for the permanent magnet （PM） spherical actuator to improve its motion control accuracy. The proposed actuator is com- posed of a stator with circumferent...This paper presents a two-level geometric calibration method for the permanent magnet （PM） spherical actuator to improve its motion control accuracy. The proposed actuator is com- posed of a stator with circumferential coils and a rotor with multiple PM poles. Due to the assembly and fabrication errors, the real geometric parameters of the actuator will deviate from their design values. Hence, the identification of such errors is critical for the motion control tasks. A two-level geometric calibration approach is proposed to identify such errors. In the first level, the calibration model is formulated based on the differential form of the kinematic equation, which is to identify the geometric errors in the spherical joint. In the second level, the calibration model is formulated based on the differential form of torque formula, which is to calibrate the geometric parameters of the magnetization axes of PM poles and coils axes. To demonstrate the robustness and availability of the calibration algorithm, simulations are conducted. The results have shown that the proposed two-level calibration method can effectively compensate the geometric parameter errors and improve the positioning accuracy of the spherical actuator.展开更多
High performance force sensors often encounter the conflicting requirements of high resolution and large measurement range.To address this problem,this paper presents a conceptual design of a novel uniaxial force sens...High performance force sensors often encounter the conflicting requirements of high resolution and large measurement range.To address this problem,this paper presents a conceptual design of a novel uniaxial force sensor with large range and dual-stage force resolutions which enables us to measure forces within a wide range with satisfied resolutions.The newly developed force sensor features an aluminum alloy body with a probe to transfer external forces into the sensing element.It employs an optical linear encoder to detect the displacement of the sensing body.This sensing scheme may immunize outside electromagnetic noises and therefore enhance the performance of the sensor thanks to its digital signal output.In this paper,an accurate,analytical model for calculating the static stiffness and dynamics of the system was developed by using pseudo-rigid-body-model(PRBM)methodology.To optimize the design,finite element simulations were conducted.After a prototype sensor was fabricated,preliminary characterization tests were carried out to verify the accuracy of the theoretical model and demonstrate the effectiveness of the design.The experiment results indicate that the structure of the new sensor is compact,and it has the ability to measure both micro range and macro range forces within one setup,meanwhile keeps very fine resolutions.展开更多
基金co-supported by National Natural Science Foundation of China (No. 50975017)Research Fund for the Doctoral Program of Higher Education of China (No. 20101-102110006)the Innovation Foundation of BUAA for PhD Graduates
文摘This paper presents a two-level geometric calibration method for the permanent magnet （PM） spherical actuator to improve its motion control accuracy. The proposed actuator is com- posed of a stator with circumferential coils and a rotor with multiple PM poles. Due to the assembly and fabrication errors, the real geometric parameters of the actuator will deviate from their design values. Hence, the identification of such errors is critical for the motion control tasks. A two-level geometric calibration approach is proposed to identify such errors. In the first level, the calibration model is formulated based on the differential form of the kinematic equation, which is to identify the geometric errors in the spherical joint. In the second level, the calibration model is formulated based on the differential form of torque formula, which is to calibrate the geometric parameters of the magnetization axes of PM poles and coils axes. To demonstrate the robustness and availability of the calibration algorithm, simulations are conducted. The results have shown that the proposed two-level calibration method can effectively compensate the geometric parameter errors and improve the positioning accuracy of the spherical actuator.
基金supported by the National Natural Science Foundation of China (Grant Nos. 91023036 and 51275018)
文摘High performance force sensors often encounter the conflicting requirements of high resolution and large measurement range.To address this problem,this paper presents a conceptual design of a novel uniaxial force sensor with large range and dual-stage force resolutions which enables us to measure forces within a wide range with satisfied resolutions.The newly developed force sensor features an aluminum alloy body with a probe to transfer external forces into the sensing element.It employs an optical linear encoder to detect the displacement of the sensing body.This sensing scheme may immunize outside electromagnetic noises and therefore enhance the performance of the sensor thanks to its digital signal output.In this paper,an accurate,analytical model for calculating the static stiffness and dynamics of the system was developed by using pseudo-rigid-body-model(PRBM)methodology.To optimize the design,finite element simulations were conducted.After a prototype sensor was fabricated,preliminary characterization tests were carried out to verify the accuracy of the theoretical model and demonstrate the effectiveness of the design.The experiment results indicate that the structure of the new sensor is compact,and it has the ability to measure both micro range and macro range forces within one setup,meanwhile keeps very fine resolutions.
