Abstract
In order to increase the electromagnetic force and improve the load resistance of micro and small robots, a linear solenoid elastic actuator (LSEA) with a magnetic ring is designed. The static and dynamic performance of the LSEA is analyzed. First, the magnetic field distribution and the function of the electromagnetic force are presented. The nonlinear vibration equation is obtained by dynamic modeling. Second, the averaging method is employed to obtain analytical results of the system parameters including equivalent stiffness, natural frequency, and damping coefficient. The transient network is constructed with the Simulink software to numerically solve the nonlinear equation. Finally, the dynamic test and the resistance load test on the LSEA are performed. The displacement curves and performance indicators obtained by the theoretical, simulation and experimental methods are compared. The maximum errors of setting time and stable displacement are 55.1 ms and 0.25 mm, respectively. The LSEA can resist a load of 10 g and produce a displacement of 4.7 mm at the voltage of 4.5 V. The mass of the load is 5.6 times that of the mover in the LSEA.
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Wang, C., Mo, W., Lu, S., Jing, Z., Zhang, Q., Li, J. (2023). Dynamic and Static Performance Analysis of a Linear Solenoid Elastic Actuator with a Large Load Capacity. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14271. Springer, Singapore. https://doi.org/10.1007/978-981-99-6495-6_11
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DOI: https://doi.org/10.1007/978-981-99-6495-6_11
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