Analysis, Modeling, and Simulation of a PM Linear Actuator with Surface Motion Ability

In recent years, the increase in traffic on steel bridges causes fatigue and cracks in their structure, and over time it can damage or even destroy them. Therefore, periodic monitoring of these structures is essential. Accessing different parts of these structures is difficult for humans, so the idea of using robots arises. These kinds of robots have been used in some cases but have some flaws and limitations. This paper proposes a magnetic actuator with high efficiency and easy feed superior to previous designs. The proposed magnetic motion uses the inertia force generated by the piston vibration and the frictional force difference during movement. This actuator is simulated in Solid Works software, and its electromagnetic analysis is done in EMWORKS (EMS) software. Unlike previous actuators, the pulse source and mass model were not used. The spring removal increases the efficiency due to the acceleration reducer and utilization of the DC source instead of the AC source, making the proposed actuator feeding more accessible than the previous ones.