Magnetically Levitated Planar Actuator with Moving Magnets

This 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 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 for the electromagnetic design of this type of actuator is discussed and several topologies are compared.