Analysis and design considerations of a 2-DoF rotary-linear actuator

In this paper, a permanent magnet actuator with two degrees of freedom is analyzed. The actuator can provide rotation and translation independently controlled. Additionally, passive gravity overcompensation is included in the actuator, i.e., during power down conditions, the translator will be at rest in its upper position. The different aspects of this actuator are described and a prototype is designed for a pick and place application. The actuator is designed for a maximum acceleration level in the axial direction of 150 ms-2 for a stroke of 45 mm and a peak force of 40 N. For rotation, the requirements are a torque level of 20 mNm and an angular position accuracy of 0.12 mrad