Dynamics of an Electromagnetic Tilting Actuator in a Hyper-Redundant Serial Chain

verfasst von

Svenja Tappe, M. Dörbaum, J. Kotlarski, T. Ortmaier, B. Ponick

Abstract

A hyper-redundant serial chain concept based on bistable, electromagnetic tilting actuators for use in future endoscopic applications was proposed earlier. The dynamics modelling and the simulation of the tilting behaviour is essential due to different reasons: As the system is not equipped with any sensors, necessary power-on durations for driving the electromagnetic actuators from one tilting position to the other must be predicted. These durations can be calculated through the dynamics model with respect to acting forces and inertia. Additional-ly, power-on durations can be used to prohibit unintended opening of other actuators in the serial chain. Therefore, this paper focuses on the validity of the dynamic model of one actuator within the manipulator, through detailed measurements of its tilting behaviour with regard to different power-on durations.

Organisationseinheit(en)

Institut für Mechatronische Systeme
Institut für Antriebssysteme und Leistungselektronik

Typ

Aufsatz in Konferenzband

Publikationsdatum

2016

Publikationsstatus

Veröffentlicht

Peer-reviewed

Ja