영구자석을 이용한 매니퓰레이터용 중력 보상 장치의 개발

Abstract

In this paper, the development of a gravity compensator using a permanent magnet is described. A small gravity compensator that can compensate a high torque using a permanent magnet and that can be applied to various manipulators was designed. For designing a permanent magnet that is appropriate for the magnetic gravity compensator, a model used for the analysis of the repulsive force of a permanent magnet suggested by Ebihara et al. was applied, and for the formulation and verification of the numerical analysis equations, Maxwell, an electromagnetic field analysis program, was used. The magnetic gravity compensator was designed and manufactured to have a 170 mm diameter and a 1.9 kg weight, and so that it could compensate a maximum torque of 8.482 Nm. The gravity compensator using a permanent magnet was designed by examining the advantages and disadvantages of the existing gravity compensators, and numerical analysis equations that can design a permanent magnet appropriate for the load torque were verified. The gravity compensator was manufactured based on the analysis equations, and through an experiment, the increase in the efficiency of the motor was confirmed, and the performance of the gravity compensation using a magnet was verified.