Design of Rotating Moving-Magnet-Type VCM Actuator for Miniaturized Mobile Robot

소형 이동 로봇을 위한 회전형 보이스 코일 구동기 개발

  • Shin, Bu Hyun (Dept. of Mechanical Engineering, Hanbat Nat'l Univ.) ;
  • Lee, Seung-Yop (Dept. of Mechanical Engineering, Sogang Univ.) ;
  • Lee, Kyung-Min (Convergence Technology Examination Division1, Korean Intellectual Property Office) ;
  • Oh, Dongho (Dept. of Mechanical Engineering, Chungnam Nat'l Univ.)
  • 신부현 (한밭대학교 기계공학과) ;
  • 이승엽 (서강대학교 기계공학과) ;
  • 이경민 (특허청 복합기술심사 1 팀) ;
  • 오동호 (충남대학교 기계공학과)
  • Received : 2013.10.09
  • Accepted : 2013.11.15
  • Published : 2013.12.01


A voice coil actuator with a rotating moving magnet has been developed for a miniaturized mobile robot. The actuator has simple structure comprising a magnet, a coil, and a yoke. Actuator performance is predicted using a linearized theoretical model, and dynamic performance based on the air-gap between the magnet and the coil is predicted using motor constant and restoring constant obtained through finite element simulations. The theoretical model was verified using a prototype with 60 Hz resonance and 80 Hz bandwidth. We found that an input of 1.5 V can make the actuator rotate by $20^{\circ}$ statically. The driving configuration of the proposed actuator can be simplified because of its implementation of open-loop control.


Electromagnetic Actuator;Mobile Robot;Voice Coil Motor


Supported by : 한밭대학교


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