Motion Analysis of Magnetically Controlled Halbach Array

Magnetic control technology is increasingly used in various fields to achieve more accurate wireless control. Different magnetic field arrangement modes can be selected for control according to different scenes. To acquiring the high maneuver of magnetic actuator and good application adaptability, Permanent Magnet Halbach array (PMHA) is a good choice as a potential robotic actuator. This paper presents the PMHA has more maneuverability and magnetic intensity than single polar magnets. FEM simulations and experiments are made to analyze the static and dynamic performances. Under the control of an external permanent magnet (EPM), the PMHA can achieve two kinds of rotation around different axises except for linear motion along with six arises. The experiments validate PMHA has the multi-mode motion performances and higher magnetic intensity per volume. The result provides its potential application as robotic actuator.