Optimization of contactless planar actuator with manipulator

This paper describes the optimization of a contactless electromagnetic planar actuator (6 degree-of-freedom) with manipulator on top of the floating platform. The manipulator causes disturbance forces and torques that must be counteracted by the magnetic bearings. In addition, the energy necessary to operate the manipulator is transferred by means of an inductive coupling, which is integrated in the magnetic bearings. The requirements for the planar actuator in such a system are discussed in this paper as well as the optimization variables, goals, and constraints. In addition, the influence of the accuracy of the combined analytical-numerical model of the planar actuator on the optimization is addressed. Finally, the topology is presented that meets all criteria.