제어로봇시스템학회논문지 (Journal of Institute of Control, Robotics and Systems)

  • 제17권9호
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  • Pages.882-887
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  • 2011
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  • 1976-5622(pISSN)
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  • 2233-4335(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
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동전기 휠을 이용한 전도성 환봉의 나선형 운동과 제어

Screw Motion and Control of Conductive Rod by Rotating a Spiral Electrodynamic Wheel

  • 정광석 (충주대학교 기계공학과)
  • 투고 : 2011.03.30
  • 심사 : 2011.06.30
  • 발행 : 2011.09.01
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초록

A spiral electrodynamic wheel is proposed as an actuator for the contactless conveyance of a conductive rod. When rotating the wheel around the rod, a radial force, a tangential force, and an axial force are generated on the rod and cause a screw motion of the rod. The rotation of the rod is the inevitable result due to traction torque of the wheel and the unintended motion to be excluded. However, the rotating speed of the rod should be measured without mechanical contact to be cancelled out through the controller, so the electrodynamic wheel is used as a sensor measuring the rotating speed of the rod indirectly as well as an actuator. In this paper, we model the magnetic forces by the proposed wheel theoretically and compare the derived model with simulation result by Maxwell, and analyze influences on the magnetic forces by key parameters constituting the wheel. The feasibility of the conveyance system is verified experimentally.

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참고문헌

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피인용 문헌

  1. A Spatial Stability of the Conductive Rod Conveyed by Double Electrodynamic Wheels vol.29, pp.8, 2012, https://doi.org/10.7736/KSPE.2012.29.8.873
  2. Non-Contact Manipulation of Conductive Rod using Axial Magnet Wheels vol.19, pp.7, 2013, https://doi.org/10.5302/J.ICROS.2013.13.1881