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SABİT MIKNATISLI DEMİR NÜVELİ KÜRESEL EYLEYİCİNİN BİLGİSAYAR DESTEKLİ 3 BOYUTLU STATİK MANYETİK ANALİZİ VE UYGULAMASI

Yıl 2005, Cilt: 20 Sayı: 4, 0 - , 10.04.2013

Osman Gürdal Yusuf Öner

Öz

Bu çalışmada, NdFeB sabit mıknatıs dilimlerinden yapılmış sabit mıknatıslı küresel rotor ve yumuşak demir ve basit sargı düzenlemesine sahip bir statordan oluşan küresel eyleyici tanımlanmaktadır. Küresel rotor düşük sürtünme katsayılı teflon yüzey kaplamalı bir stator içine yerleştirilmiştir. Stator üzerindeki üç ortogonal sargı (8 adet bağımsız enerjilendirilebilen sargı) halka akısının artırılması için bir dış küresel demir kabukla çevrelenmiştir. Stator demir nüvesi yokken, rotorun analitik olarak formülasyonu yapılmış manyetik alan dağılımı değerleri sonlu elemanlar analizi ve deneysel ölçümler ile doğrulanmış ve stator demir nüvesi varken rotorun ürettiği tork değerleri sonlu elemanlar metodu (Ansoft Maxwell 3D ile) ile tahmin edilerek deneysel olarak doğrulanmıştır. Tasarımı yapılan ve uygulanan sabit mıknatıslı demir nüveli küresel eyleyici açık çevrimli olarak 360° dönme hareketinin yanında 45º aşağı-yukarı hareketi yapabilmektedir.

Anahtar Kelimeler

Küresel eyleyici sabit mıknatıs 3 boyutlu manyetik analiz.

Kaynakça

  • Wang, J., Jewell, G.W. ve Howe, D., “Analysis of A Spherical Permanent Magnet Actuator”, J. Appl. Phys. 81(8): 4266-4268, 1997.
  • Williams, F., Laithwaite, E.R. ve Eastham, J.F., “Development and Design of Spherical Induction Motors”, Proc. of the IEE. 471-484, 1959.
  • Vachtsevanos., G.J., Davey., K. ve Lee., K.M., “Development of a Novel Intelligent Robotic Manipulator”, IEEE Control System Magazine 9-15, 1987.
  • Davey., K., Vachtsevanos., G.J. ve Power., R. “An Analysis of Fields and Torques in Spherical Induction Motors”, IEE Transactions on Magnetics. Mag-23.(1) 273-281, 1987.
  • Foggia., A., Oliver., E., Chappuis., F. “New Three Degree of Freedom Electromagnetic Actuator”, Conference Record IAS Anual Meeting 35, New York, 1988.
  • Lee., K. M., Pei., J. “Kinematic Analysis of A Three Degree of Freedom Spherical Wrist Actuator”, The Fifth International Conference on Advanced Robotics, 72-77, Italy, 1991.
  • Wang., J., Jewell., G., Howe., D. “Modeling of a Novel Spherical Permanent Magnet Actuator”, Proceeding of IEEE International Conference on Robotics and Automation 1120-1125, New Mexico, 1997.
  • Wang., J., Jewell., G., Howe., D. “Analysis, Design and Control of Novel Spherical Permanent Magnet Actuator”, IEE Proceedings on Electri-cal Power Applications. Cilt 154, No 1, 61-71, 1998.
  • Chirikjion., G.S. ve Stein., D. “Kinematic Design and Commutation of A Spherical Stepper Motor”, IEEE/ASME Transactions on Mechatronics, Cilt 4, No 4, 342-353, Piscataway, New Jersey, 1999.
  • Kahlen., K., De Doncker., R.W. “Current Regulators of Multi Phase Permanent Magnet Spherical Machines”, Industry Applications Conference Record of the 2000 IEEE 3, 2011-2016, 2000.
  • Yang., C., Back, Y.S. “Design and Control of the 3 Degrees of Freedom Actuator by Controlling The Electromagnetic Forces”, IEEE Transactions on Magnetics, 3607-3609, 1999.
  • Hollis., R.L., Ralph L., “Magnetically Levitated Fine Motion Robot Wrist with Programmable Compliance”, United States Patent, Ekim, 1989.
  • Kaneko., K., Yamada. I, nad Itao. K. “A Spherical DC Servo Motor with Three Degrees of Freedom”, Transactions of the ASME Journal of Dynamic System Measurement and Control 111, 398-402, Eylül 1989.
  • Neto., L., Mendes, R. ve Andrade, D.A. “Spherical Motor A Three Dimensional Position Servo”, Proceding of IEE Conferences on Electrical Machines and Drives, 227-231, 11-13 Eylül, 1995.
  • Benjamin, B. Bederson “A Miniature Space Variant Active Vision System: Cortex-1”, Phd Thesis New York University, 25-64, Haziran, 1992.
  • Lee., K.M. G. Vachtsevanos, C.K. Kwan. “Development of A Spherical Stepper Wrist Mo-tor”, IEEE International Conference on Robotics and Automation, 1: 267-272, 24-29 Ni-san 1988.
  • Lee., K.M. Kwan, C., “Design Concept Development of A Spherical Stepper for Robotic Applications”, IEEE Transactiona on Robotics and Automation. Cilt 1, No 7, 175-181 Şubat 1991.
  • Roth., R. Lee., K.M., “Design Optimisation of A Three Degrees of Freeedom Variable Reluctance Spherical Wrist Motor”, Transactions of the ASME Journal of Engineering for Industry 117, 378-388, Ağustos, 1995.
  • Raye., A. S., “Finite Element Torque Modeling And Backstepping Control of A Spherical Motor”, Phd Thesis, Gerge W. Woodruff school of Mechanical Engineering, Georgia Institute of Technology, 8-52, 2001.
  • Zhou., Z. Lee., K.M., “Real Time Motion Control of Multi Degree of Freedom Variable Reluctance Spherical Motor”, Proceedings of the 1996 IEEE International Conference on Robotics and Automation, 2859-2864, Minneopolis-Minnesota, 1996.
  • Kim, D., “A Design Methodology of A High-Torque Multi Degree of Freedom Spherical Mo-tor”, M.Sc. Thesis, The George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, 24-76, 1997.
  • Ezenekwe., D. ve Lee, K.M., “Design of Air Bearing System for Fine Motion Application of Multi Dof Spherical Actuators”, Proc. of the IEEE/ASME AIM 99. 812-818, Atlanta, Eylül 1999.
  • He., T. “Effects of Rotor Configurations on the Characteristic Torque of A Variable Reluctance Spherical Motor”, Phd Thesis Georgia Institute of Technology-China, 35-75, Temmuz 2000.
  • Wang, J., Wang, W., Jewell, G.W., Howe D., “A Novel Spherical Permanent Magnet Actuator with Three Degrees of Freedom”, IEEE Transactions on Magnetics, Cilt 34, No 4, Temmuz 1998.
  • Mitchell, J.K., Jewell, G.W., Wang, J., Bingham, C.M., Howe, D., “Influence of An Aperture on the Performance of A Two-Degree-of-Freedom Iron-Cored Spherical Permanent-Magnet Actua-tor”, IEEE Transactions on Magnetics, Cilt 38, No 6, Kasım, 2002.
  • Wang, J., Wang, W., Jewell, G.W., Howe D., “Design and Control of A Novel Spherical Permanent Magnet Actuator With Three Degrees of Freedom”, IEEE Transactions on Mechatronics, Cilt 8, No 4, Aralık 2003.
  • Öner, Y., Sabit Mıknatıslı Küresel Motorun Bilgisayar Destekli Üç Boyutlu Manyetik Ana-lizi, Tasarımı ve Uygulaması, Doktora Tezi, Ga-zi Üniversitesi, Fen Bilimleri Enstitüsü, Temmuz, 2004.
  • Moskowitz, L., Permanent Magnet Design and Application Handbook, Krieger Publishing Company, Malabar, Florida, USA, 1995.
  • Sievert, J., Ahlers, H., Ludke, J., Siebert, S., Pareti, L., Solzi, M., “European Intercomparison of Measurements on Permanent Magnets”, IEEE Transactions on Magnetics, Cilt 29 , No 6, 2887 – 2889, Kasım 1993.

Yıl 2005, Cilt: 20 Sayı: 4, 0 - , 10.04.2013

Osman Gürdal Yusuf Öner

Öz

Kaynakça

  • Wang, J., Jewell, G.W. ve Howe, D., “Analysis of A Spherical Permanent Magnet Actuator”, J. Appl. Phys. 81(8): 4266-4268, 1997.
  • Williams, F., Laithwaite, E.R. ve Eastham, J.F., “Development and Design of Spherical Induction Motors”, Proc. of the IEE. 471-484, 1959.
  • Vachtsevanos., G.J., Davey., K. ve Lee., K.M., “Development of a Novel Intelligent Robotic Manipulator”, IEEE Control System Magazine 9-15, 1987.
  • Davey., K., Vachtsevanos., G.J. ve Power., R. “An Analysis of Fields and Torques in Spherical Induction Motors”, IEE Transactions on Magnetics. Mag-23.(1) 273-281, 1987.
  • Foggia., A., Oliver., E., Chappuis., F. “New Three Degree of Freedom Electromagnetic Actuator”, Conference Record IAS Anual Meeting 35, New York, 1988.
  • Lee., K. M., Pei., J. “Kinematic Analysis of A Three Degree of Freedom Spherical Wrist Actuator”, The Fifth International Conference on Advanced Robotics, 72-77, Italy, 1991.
  • Wang., J., Jewell., G., Howe., D. “Modeling of a Novel Spherical Permanent Magnet Actuator”, Proceeding of IEEE International Conference on Robotics and Automation 1120-1125, New Mexico, 1997.
  • Wang., J., Jewell., G., Howe., D. “Analysis, Design and Control of Novel Spherical Permanent Magnet Actuator”, IEE Proceedings on Electri-cal Power Applications. Cilt 154, No 1, 61-71, 1998.
  • Chirikjion., G.S. ve Stein., D. “Kinematic Design and Commutation of A Spherical Stepper Motor”, IEEE/ASME Transactions on Mechatronics, Cilt 4, No 4, 342-353, Piscataway, New Jersey, 1999.
  • Kahlen., K., De Doncker., R.W. “Current Regulators of Multi Phase Permanent Magnet Spherical Machines”, Industry Applications Conference Record of the 2000 IEEE 3, 2011-2016, 2000.
  • Yang., C., Back, Y.S. “Design and Control of the 3 Degrees of Freedom Actuator by Controlling The Electromagnetic Forces”, IEEE Transactions on Magnetics, 3607-3609, 1999.
  • Hollis., R.L., Ralph L., “Magnetically Levitated Fine Motion Robot Wrist with Programmable Compliance”, United States Patent, Ekim, 1989.
  • Kaneko., K., Yamada. I, nad Itao. K. “A Spherical DC Servo Motor with Three Degrees of Freedom”, Transactions of the ASME Journal of Dynamic System Measurement and Control 111, 398-402, Eylül 1989.
  • Neto., L., Mendes, R. ve Andrade, D.A. “Spherical Motor A Three Dimensional Position Servo”, Proceding of IEE Conferences on Electrical Machines and Drives, 227-231, 11-13 Eylül, 1995.
  • Benjamin, B. Bederson “A Miniature Space Variant Active Vision System: Cortex-1”, Phd Thesis New York University, 25-64, Haziran, 1992.
  • Lee., K.M. G. Vachtsevanos, C.K. Kwan. “Development of A Spherical Stepper Wrist Mo-tor”, IEEE International Conference on Robotics and Automation, 1: 267-272, 24-29 Ni-san 1988.
  • Lee., K.M. Kwan, C., “Design Concept Development of A Spherical Stepper for Robotic Applications”, IEEE Transactiona on Robotics and Automation. Cilt 1, No 7, 175-181 Şubat 1991.
  • Roth., R. Lee., K.M., “Design Optimisation of A Three Degrees of Freeedom Variable Reluctance Spherical Wrist Motor”, Transactions of the ASME Journal of Engineering for Industry 117, 378-388, Ağustos, 1995.
  • Raye., A. S., “Finite Element Torque Modeling And Backstepping Control of A Spherical Motor”, Phd Thesis, Gerge W. Woodruff school of Mechanical Engineering, Georgia Institute of Technology, 8-52, 2001.
  • Zhou., Z. Lee., K.M., “Real Time Motion Control of Multi Degree of Freedom Variable Reluctance Spherical Motor”, Proceedings of the 1996 IEEE International Conference on Robotics and Automation, 2859-2864, Minneopolis-Minnesota, 1996.
  • Kim, D., “A Design Methodology of A High-Torque Multi Degree of Freedom Spherical Mo-tor”, M.Sc. Thesis, The George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, 24-76, 1997.
  • Ezenekwe., D. ve Lee, K.M., “Design of Air Bearing System for Fine Motion Application of Multi Dof Spherical Actuators”, Proc. of the IEEE/ASME AIM 99. 812-818, Atlanta, Eylül 1999.
  • He., T. “Effects of Rotor Configurations on the Characteristic Torque of A Variable Reluctance Spherical Motor”, Phd Thesis Georgia Institute of Technology-China, 35-75, Temmuz 2000.
  • Wang, J., Wang, W., Jewell, G.W., Howe D., “A Novel Spherical Permanent Magnet Actuator with Three Degrees of Freedom”, IEEE Transactions on Magnetics, Cilt 34, No 4, Temmuz 1998.
  • Mitchell, J.K., Jewell, G.W., Wang, J., Bingham, C.M., Howe, D., “Influence of An Aperture on the Performance of A Two-Degree-of-Freedom Iron-Cored Spherical Permanent-Magnet Actua-tor”, IEEE Transactions on Magnetics, Cilt 38, No 6, Kasım, 2002.
  • Wang, J., Wang, W., Jewell, G.W., Howe D., “Design and Control of A Novel Spherical Permanent Magnet Actuator With Three Degrees of Freedom”, IEEE Transactions on Mechatronics, Cilt 8, No 4, Aralık 2003.
  • Öner, Y., Sabit Mıknatıslı Küresel Motorun Bilgisayar Destekli Üç Boyutlu Manyetik Ana-lizi, Tasarımı ve Uygulaması, Doktora Tezi, Ga-zi Üniversitesi, Fen Bilimleri Enstitüsü, Temmuz, 2004.
  • Moskowitz, L., Permanent Magnet Design and Application Handbook, Krieger Publishing Company, Malabar, Florida, USA, 1995.
  • Sievert, J., Ahlers, H., Ludke, J., Siebert, S., Pareti, L., Solzi, M., “European Intercomparison of Measurements on Permanent Magnets”, IEEE Transactions on Magnetics, Cilt 29 , No 6, 2887 – 2889, Kasım 1993.
Toplam 29 adet kaynakça vardır.

Ayrıntılar

Birincil Dil Türkçe
Bölüm Makaleler
Yazarlar

Osman Gürdal Bu kişi benim

Yusuf Öner Bu kişi benim

Yayımlanma Tarihi 10 Nisan 2013
Gönderilme Tarihi 10 Nisan 2013
Yayımlandığı Sayı Yıl 2005 Cilt: 20 Sayı: 4

Kaynak Göster

APA Gürdal, O., & Öner, Y. (2013). SABİT MIKNATISLI DEMİR NÜVELİ KÜRESEL EYLEYİCİNİN BİLGİSAYAR DESTEKLİ 3 BOYUTLU STATİK MANYETİK ANALİZİ VE UYGULAMASI. Gazi Üniversitesi Mühendislik Mimarlık Fakültesi Dergisi, 20(4).
AMA Gürdal O, Öner Y. SABİT MIKNATISLI DEMİR NÜVELİ KÜRESEL EYLEYİCİNİN BİLGİSAYAR DESTEKLİ 3 BOYUTLU STATİK MANYETİK ANALİZİ VE UYGULAMASI. GUMMFD. Mart 2013;20(4).
Chicago Gürdal, Osman, ve Yusuf Öner. “SABİT MIKNATISLI DEMİR NÜVELİ KÜRESEL EYLEYİCİNİN BİLGİSAYAR DESTEKLİ 3 BOYUTLU STATİK MANYETİK ANALİZİ VE UYGULAMASI”. Gazi Üniversitesi Mühendislik Mimarlık Fakültesi Dergisi 20, sy. 4 (Mart 2013).
EndNote Gürdal O, Öner Y (01 Mart 2013) SABİT MIKNATISLI DEMİR NÜVELİ KÜRESEL EYLEYİCİNİN BİLGİSAYAR DESTEKLİ 3 BOYUTLU STATİK MANYETİK ANALİZİ VE UYGULAMASI. Gazi Üniversitesi Mühendislik Mimarlık Fakültesi Dergisi 20 4
IEEE O. Gürdal ve Y. Öner, “SABİT MIKNATISLI DEMİR NÜVELİ KÜRESEL EYLEYİCİNİN BİLGİSAYAR DESTEKLİ 3 BOYUTLU STATİK MANYETİK ANALİZİ VE UYGULAMASI”, GUMMFD, c. 20, sy. 4, 2013.
ISNAD Gürdal, Osman - Öner, Yusuf. “SABİT MIKNATISLI DEMİR NÜVELİ KÜRESEL EYLEYİCİNİN BİLGİSAYAR DESTEKLİ 3 BOYUTLU STATİK MANYETİK ANALİZİ VE UYGULAMASI”. Gazi Üniversitesi Mühendislik Mimarlık Fakültesi Dergisi 20/4 (Mart 2013).
JAMA Gürdal O, Öner Y. SABİT MIKNATISLI DEMİR NÜVELİ KÜRESEL EYLEYİCİNİN BİLGİSAYAR DESTEKLİ 3 BOYUTLU STATİK MANYETİK ANALİZİ VE UYGULAMASI. GUMMFD. 2013;20.
MLA Gürdal, Osman ve Yusuf Öner. “SABİT MIKNATISLI DEMİR NÜVELİ KÜRESEL EYLEYİCİNİN BİLGİSAYAR DESTEKLİ 3 BOYUTLU STATİK MANYETİK ANALİZİ VE UYGULAMASI”. Gazi Üniversitesi Mühendislik Mimarlık Fakültesi Dergisi, c. 20, sy. 4, 2013.
Vancouver Gürdal O, Öner Y. SABİT MIKNATISLI DEMİR NÜVELİ KÜRESEL EYLEYİCİNİN BİLGİSAYAR DESTEKLİ 3 BOYUTLU STATİK MANYETİK ANALİZİ VE UYGULAMASI. GUMMFD. 2013;20(4).