Multi-degree-of-freedom spherical permanent magnet gravity compensator for mobile arm support systems

B. Ninhuijs, van, B.L.J. Gysen, J.W. Jansen, E. Lomonova

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

6 Citations (Scopus)
4 Downloads (Pure)


This paper presents a magnetic gravity compensator which is able to provide compensation around two axis of rotation for mobile arm support systems. Because of the compensation around two axes it provides more flexibility than the existing mechanical gravity compensators. This flexibility is achieved by using two semispherical permanent magnets, where the inner semisphere can rotate around the x, y and, z axis with respect to the outer semisphere. Several magnetization topologies, evaluated using 2D finite element analysis, are investigated and the most suitable topology is optimized in 2D finite element analysis. The optimization results are verified with 3D finite element analysis.
Original languageEnglish
Title of host publicationProceedings of the 2013 IEEE International Electric Machines and Drives Conference (IEMDC), Chicago, Illinois, May 12–15, 2013
Place of PublicationPiscataway
PublisherInstitute of Electrical and Electronics Engineers
ISBN (Print)978-1-4673-4975-8
Publication statusPublished - 2013


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