This paper proposes a new two-dimensional (2D) actuation method for a microrobot that uses a stationary two-pair coil system. The coil system actuates the microrobot by controlling the magnitude and direction of the external magnetic flux. The actuation of the microrobot consists of an alignment to the desired direction and a linear movement of the microrobot by non-contact electromagnetic actuation. Firstly, the actuation mechanism of the stationary coil system is theoretically derived and analyzed. Secondly, the tendency of the magnetic flux in the coil system are analyzed and compared by preliminary theoretical analysis. Through various locomotive experiments of the microrobot, the performance of the electromagnetic actuation by the proposed stationary two-pair coil system is evaluated. Using the proposed 2D actuation method, the microrobot is aligned to the desired direction by Helmholtz coils and is driven to the aligned direction by Maxwell coils. By the successive current control of the coil system, the microrobot can move along a desired path, such as a rectangular-shaped or a diamond-shaped path.
A complete method is presented to calculate the stiffness and the damping coefficients in a hydrodynamic bearing considering five degrees of freedom for a general rotor-bearing system. Perturbation equations are obtained from Reynolds equation by assuming the small amplitude motion of a bearing center, and are solved by the finite element method. Their characteristics due to eccentricity and misalignment are investigated for herringbone groove journal and thrust bearings in the spindle motor of a hard disk drive. This research shows that the dynamic coefficients increase with increasing the misalignment as well as the eccentricity due to the wedge effect. It also shows that the moment coefficients, which have been neglected in most of the previous analyses, are of significant magnitude in a journal bearing and have even bigger values for the thrust bearing when they are compared with the ball bearing in the same type of a spindle motor.
The Reynolds equation, incorporating Elrod’s cavitaton algorithm, is discretized on a rectangular grid in computational space through coordinate mapping in order to accurately analyze a herringbone grooved journal bearing of a spindle motor in a computer hard disk drive. The pressure distribution and cavitation area are determined by using the finite volume method. Predicted results are compared to experimental data of previous researchers. It was found that positive pressure is developed within the converging section of the bearing and that a cavity occurs in the diverging section. Cavitation has been neglected in the previous analyses of the herringbone grooved bearing. Load capacity and bearing torque are increased due to the increase of eccentricity and L/D and the decrease of the groove width ratio. The maximum load capacity was found to occur at a groove angle of 30 degrees while bearing torque remains constant due to the variation of the groove angle. The cavitation region is significantly decreased with the inclusion of herringbone grooves. However, the region increases with the increase of the eccentricity, L/D, groove angle and the rotational speed and the decrease of the groove width ratio. [S0742-4787(00)01401-6]
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