TY - GEN
T1 - Internally-Balanced Magnetic Mechanisms Using a Magnetic Spring for Producing a Large Amplified Clamping Force
AU - Shimizu, Tori
AU - Tadakuma, Kenjiro
AU - Watanabe, Masahiro
AU - Takane, Eri
AU - Konyo, Masashi
AU - Tadokoro, Satoshi
N1 - Funding Information:
This work was partially supported by the “Impulsing Paradigm Change through Disruptive Technologies Program (ImPACT)”, a research division designed by the Council for Science, Technology, and Innovation of Japan. This was consigned via the Japan Science and Technology Agency. The authors are grateful for their kind financial support.
Publisher Copyright:
© 2020 IEEE.
PY - 2020/5
Y1 - 2020/5
N2 - To detach a permanent magnet using a control force much smaller than its original attractive force, the internally-balanced magnetic unit (IB Magnet) was invented. It has been applied to magnetic devices such as wall-climbing robots, ceiling-dangling drones, and modular swarm robots. In contrast to its significant reduction rate with regard to the control force, the IB Magnet has two major problems in its nonlinear spring, which serves the purpose of cancelling out the internal force on the magnet. These problems include the complicated design procedure and the trade-off relationship between balancing the precision and the volume of the mechanism. This paper proposes a principle for a new balancing method for the IB Magnet. This method uses a like-pole pair of magnets as a magnetic spring, whose repulsive force should equal the attractive force of an unlike-pole pair. To verify the proposed principle, a prototype of the IB Magnet was designed using a magnetic spring and verified through experiments such that its reduction rate is comparable to those of conventional IB Magnets. Moreover, a robotic clamp was developed as an application example that contains the proposed IB Magnets as its internal mechanism.
AB - To detach a permanent magnet using a control force much smaller than its original attractive force, the internally-balanced magnetic unit (IB Magnet) was invented. It has been applied to magnetic devices such as wall-climbing robots, ceiling-dangling drones, and modular swarm robots. In contrast to its significant reduction rate with regard to the control force, the IB Magnet has two major problems in its nonlinear spring, which serves the purpose of cancelling out the internal force on the magnet. These problems include the complicated design procedure and the trade-off relationship between balancing the precision and the volume of the mechanism. This paper proposes a principle for a new balancing method for the IB Magnet. This method uses a like-pole pair of magnets as a magnetic spring, whose repulsive force should equal the attractive force of an unlike-pole pair. To verify the proposed principle, a prototype of the IB Magnet was designed using a magnetic spring and verified through experiments such that its reduction rate is comparable to those of conventional IB Magnets. Moreover, a robotic clamp was developed as an application example that contains the proposed IB Magnets as its internal mechanism.
KW - Force Control
KW - Mechanism Design of Manipulators
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U2 - 10.1109/ICRA40945.2020.9197151
DO - 10.1109/ICRA40945.2020.9197151
M3 - Conference contribution
AN - SCOPUS:85092739561
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1840
EP - 1846
BT - 2020 IEEE International Conference on Robotics and Automation, ICRA 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2020 IEEE International Conference on Robotics and Automation, ICRA 2020
Y2 - 31 May 2020 through 31 August 2020
ER -