JThis paper concerns the design, optimization and commutation of a six degree-of-freedom planar actuator with active magnetic bearing. The planar motor has a stationary coils Z array and a translator with a Halbach magnet array. During movements in the xy-plane, the set of energized coils changes with the position of the translator. In this paper a method forI the electromagnetic design of this type of actuator is discussed G and several topologies are compared.

This paper presents three types of magnetostatic models of ironless planar actuators with moving magnets. The models predict the force and torque exerted on the translator of the actuator, which can be positioned in six degrees-of-freedom with respect to the stator coils. The force and torque are calculated with the Lorentz force law. The analytical and numerical models can be used for the design of large planar actuators, for the fast comparison of actuator topologies, and in the decoupling and commutation algorithm. The models have been verified with experiments.

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DOI to the publisher's website. • The final author version and the galley proof are versions of the publication after peer review. • The final published version features the final layout of the paper including the volume, issue and page numbers. Link to publication General rights Copyright and moral rights for the publications made accessible in the public portal are retained by the authors and/or other copyright owners and it is a condition of accessing publications that users recognise and abide by the legal requirements associated with these rights. • Users may download and print one copy of any publication from the public portal for the purpose of private study or research. • You may not further distribute the material or use it for any profit-making activity or commercial gain • You may freely distribute the URL identifying the publication in the public portal. If the publication is distributed under the terms of Article 25fa of the Dutch Copyright Act, indicated by the "Taverne" license above, please follow below link for the End User Agreement:

This paper presents a hybrid analytical modeling method which integrates a mesh-based magnetic equivalent circuit model with the Fourier modeling approach. This hybrid analytical modeling is capable of correctly predicting the electromagnetic field distributions for various two-dimensional geometries. The generalized approach of the presented hybrid modeling concept, makes the modeling technique applicable to a wide range of electromagnetic devices. By only meshing the parts of the domain in the vicinity of the high permeable materials, the increase in computational effort is limited compared to the sole use of Fourier modeling. The proposed hybrid analytical modeling method predicts the force in the geometry with ≥ 97 [%] accuracy with respect to finite element analysis.

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