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Force Capability of a Planar Peristaltic Terfenol-D Motor

  • M. J. Gerver (a1), J. H. Goldie (a2), Won-Jong Kim (a2), Jerome Kiley (a2) and J. R. Swenbeck (a2)...

Abstract

A magnetostrictive peristaltic motor, similar to an INCHWORM® motor, was designed, built, and tested, using Terfenol-D® as the active element. Unlike the Kiesewetter motor, which uses a rod of Terfenol-D in a closely fitting cylindrical channel, in our design the Terfenol-D is in the form of a flat slab, held between two spring-loaded plates. With this configuration the motor is not affected by wear of the Terfenol-D surface. In order to avoid eddy currents, we used laminated Terfenol-D. Operating at 1600 Hz with a peak field of 430 oersteds, the speed at no load was observed to be 12 mm/sec, which is 65% of the theoretical value (the peak strain times the peristaltic phase velocity), probably because the surface flatness of the Terfenol-D slab was only a few times smaller than the height of the peristaltic bumps. The measured stalling force was 90 newtons, corresponding to 350 kPa load stress in the Terfenol-D, only 3.5% of the peak strain times the stiffness of the Terfenol-D. This force was in almost exact agreement with a model which took into account the force from the spring-loaded plates (needed to avoid slippage), the transverse stiffness of the Terfenol-D slab, and the finite bending stiffness of the stator. The model can be used to design optimized motors with improved force capability. We tried using composite Terfenol-D, consisting of Terfenol-D particles in an epoxy binder, but the speed and stalling force were lower, perhaps because it did not have a very uniform distribution of particles, and was not machined as flat as the laminated Terfenol-D. The motor was driven by a specially designed 3-phase power inverter and digital controller, and the large reactive power inherent in this kind of motor was reduced by putting it in series with resonant capacitors.

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References

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3 Kiesewetter, Lothar, “Terfenol in Linear Motor,” in Proceedings of Second International Conference on Giant Magnetostrictive Alloys, Tyren, C., Editor, Marbella, Spain, 1988.
4 Goldie, J. H., Gerver, M. J., Kiley, J., Swenbeck, J. R., “Observations and Theory of Terfenol-D Inchworm Motors,” in Smart Structures and Materials 1998: Smart Structures and Integrated Systems, Regelbrugge, Marc E., Editor, Proceedings of SPIE Vol. 3329, pp. 780785 (1998).10.1117/12.316948
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Force Capability of a Planar Peristaltic Terfenol-D Motor

  • M. J. Gerver (a1), J. H. Goldie (a2), Won-Jong Kim (a2), Jerome Kiley (a2) and J. R. Swenbeck (a2)...

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