Design and modeling of a novel permanent magnet brake for robot joint

Ruoyu Tan; Jieji Zheng; Bin Yu; Dapeng Fan; Xin Xie

doi:10.1117/12.2645833

23 November 2022 Design and modeling of a novel permanent magnet brake for robot joint

Ruoyu Tan, Jieji Zheng, Bin Yu, Dapeng Fan, Xin Xie

Proceedings Volume 12302, Seventh International Conference on Electromechanical Control Technology and Transportation (ICECTT 2022); 1230227 (2022) https://doi.org/10.1117/12.2645833
Event: Seventh International Conference on Electromechanical Control Technology and Transportation (ICECTT 2022), 2022, Guangzhou, China

Abstract

This paper proposes a new type of hollow ring permanent magnet power-loss protection brake integrated into the interior of the robot joint components. Compare to the ordinary brakes, in the case of power failure, the brake uses permanent magnetic to brake generated by rare earth NdFeB, which has the advantages of low power consumption, large self-locking moment, easy assembly, maintenance free etc. After energizing, the electromagnetic coil produces the reverse electromagnetic force to counteract the permanent magnetic force together with the spring force of the flexible ring sheet on the friction armature to ensure the rapid release of the brake in the braking position and achieve the separation of no residual torque. The hollow ring routing mode not only avoids the exposure of the wire that is affected by electromagnetic radiation, but also avoids the surplus of the required wire at each joint. The equivalent magnetic circuit model of the brake under power on and power off conditions is established respectively, based on which the permanent magnetic internal structure, electromagnetic field change and magnetic flux trend are analyzed. The change of magnetic flux and magnetic flux density in the working air gap in two working conditions is shown. Finally, the theoretical calculation results are verified by the finite element simulation software.

Citation Download Citation

Ruoyu Tan, Jieji Zheng, Bin Yu, Dapeng Fan, and Xin Xie "Design and modeling of a novel permanent magnet brake for robot joint", Proc. SPIE 12302, Seventh International Conference on Electromechanical Control Technology and Transportation (ICECTT 2022), 1230227 (23 November 2022); https://doi.org/10.1117/12.2645833

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