Journal of Power Electronics

The Korean Institute of Power Electronics (전력전자학회)
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Topology structure of long-stroke gravity compensation vertical actuator based on air gap adjustment

  • Yuke Wu (College of Mechanical Engineering, Zhejiang University of Technology) ;
  • Jie Zhang (Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences) ;
  • Wenyuan Yan (Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences) ;
  • Shuheng Qiu (Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences) ;
  • Chi Zhang (Ningbo Institute of Materials Technology and Engineering, Chinese Academy of Sciences)
  • Received : 2024.10.10
  • Accepted : 2025.06.22
  • Published : 2026.04.20
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Abstract

This paper designs a new topology for a gravity-compensated vertical actuator. It uses the change in the inner diameter of the stator yoke to adjust the air gap distribution to achieve a longer working stroke. At the same time, this actuator couples Lorentz coils to provide actuation capability. It has the advantages of a compact structure, low stiffness, and low-temperature rise. It can support loads without an external input current, which improves the response speed of the motor and reduces the current required for motor coil actuation. The working principle is explained using magnetic field theory, and the critical size parameters of the actuator are optimized by combining the response surface method with finite element analysis. An experimental platform is built to test its gravity compensation force and actuation force. Experimental results show that this vertical actuator provides a support force greater than 40 N with a stroke greater than ± 9 mm.

Keywords

Acknowledgement

This work was partly supported by the Key Research and Development Program of Zhejiang Province (Grant number 2024C01115) and the Key Research and Development Program of Ningbo City (Grant 2023Z025).

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