Transactions of the Korean Society of Mechanical Engineers A (대한기계학회논문집A)

The Korean Society of Mechanical Engineers (대한기계학회)
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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.)
  • Received : 2013.10.09
  • Accepted : 2013.11.15
  • Published : 2013.12.01
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Abstract

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.

전자기력을 이용한 소형 회전 무빙 자석 타입 보이스 코일 구동기를 소형 이동 로봇을 위해 개발하였다. 1개의 자석과 1개의 코일 그리고 1개의 요크로 이루어진 간단한 구조이다. DC 모터와 같이 선형으로 근사화한 이론적인 모델링으로 성능을 예측하였고, 유한 요소 해석 프로그램으로 모터 상수와 복원력 상수를 계산하여 자석과 코일 사이의 공극에 따른 성능을 예측하였다. 시작품을 제작하여 실험을 통하여 60Hz 에서 공진 주파수를 가지고 주파수 대역폭이 80Hz를 가짐을 확인하여 모델링을 검증하였다. 그리고 정적으로 1.5V 입력 전압으로 약 20 deg의 회전을 확인하였다. 제안된 구동기는 개루프 제어가 가능하여 회로 구성을 간단히 할 수 있다.

Keywords

References

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