Controlled Backdrivability of Radial-Gap Magnetic-Screw Type RotLin Actuator

An actuator with flexibility and almost maintenance free is being studied, tested and a prototype was developed in order to confirm its design, modeling, backdrivability and controllability. This paper presents an underway research on design, modeling, simulation and development of a novel RotLin (Rotary-Linear) Radial-Gap Helical Machine. The implemented machine is comprised of Stator, Mid-Layer Rotor and the Inner Layer Translator. The current paper will be aiming at controlled backdrivability achieved by experimentally designing a closed-loop force controller to accurately make RotLin become more flexible in terms of backdrivability than in the case of intrinsic backdrivability, thanks to the torque DOb (Disturbance Observer) on the system Rotary Motion side designed to compensate the effect of disturbance force through deflective torque.