Abstract:The ironless permanent magnet (PM) planar motor (IPMPM) has great potential to realise multi-degree of freedom (DoF) motion. The insufficient ability to model the end effect limits its performance. Here, an extended unified wrench model (EUWM) of IPMPM is proposed through a systematic extension of previously proposed unified wrench model (UWM). Based on the concept of periodic extension, the EUWM is established in three steps. First, the side region and the vertex region are defined and extended into periodic … Show more
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