Design of a New Bilayer Multipole Electromagnetic Brake System for a Haptic Interface

This paper deals with the design, simulation and experimental verification of a new bilayer multipole electromagnetic brake. The design utilizes the superposition principle of magnetic flux across the inner and outer layers of axially-oriented electromagnetic poles to provide gradual braking about the single axis of rotation. The braking principle exploits the Coulomb friction between the two rigid contact surfaces. Compared with conventional, multi-pole, multi-layer type radial brakes in haptic applications, the proposed design provides high fidelity of free motion through an absolutely disconnected rotor. The design also provides a wide operating range by delaying the saturation limit of a magnetic circuit for a wide range of input power. In this paper, the analytical model of the brake is derived and compared with the FEM-based simulation results. The optimal design obtained from multi-objective optimization was experimentally verified for its capability in haptic applications.This work was supported by the Technology Innovation Program (or Industrial Strategic Technology Development Program-Artificial intelligence bio-robot medical convergence project) (20001257, Artificial intelligence algorithm based vascular intervention robot system for reducing radiation exposure and achieving 0.5 mm accuracy)—funded by the Ministry of Trade, Industry and Energy(MOTIE, Korea), the Ministry of Health and Welfare(MOHW), the Ministry of Science and ICT (MSIT) and the Korean Evaluation Institute of Industrial Technology (KEIT); the Technology Innovation Program (10052980, Development of micro-robotic system for surgical treatment of chronic total occlusion)—funded by the Ministry of Trade, Industry and Energy (MI, Korea); and the WC300 R&D Program (S2482672)—funded by the Small and Medium Business Administration (SMBA, KOREA)