A&QT-R 2002 (THETA 13)
2002 IEEE-TTTC International Conference on Automation, Quality and Testing, Robotics
May 23 – 25, 2002, Cluj-Napoca, Romania
1 of 6
COMBINED FEM AND SIMULINK MODEL
OF A MODULAR SURFACE MOTOR
Loránd SZABÓ – Jenõ Barna DOBAI
Technical University of Cluj
3400 CLUJ, P.O. Box 358, Romania
Abstract: Surface (planar) motors are capable of fast and accurate two translation axes motions
and they are required in several industrial and laboratory applications. They offer certain
advantages over rotational motor driven XY stages due to the lack of rotary-to-linear
conversion mechanisms. One of the best choices is the use of the novel, high force, modular
surface motors. In this paper a high performance simulation program is presented for the
transient analysis of this modular surface motor. It is based on the circuit-field mathematical
model of the motor using predefined static characteristics computed via numerical field
computation performed using the finite element method. The simulation results obtained for a
simple positioning task of the motor emphasis the usefulness of the presented program.
Key words: surface motor, mathematical model, dynamic simulation, finite element method,
Surface motors provide simultaneous orthogonal XY movement in the plane.
There are direct driven motors, the load can be put or fixed directly on the mover.
Hence they have a lot of benefits, as simplicity, efficiency and positioning accuracy, due
to the lack of rotary-to-linear conversion mechanisms, mechanically complex
assemblies that require regular maintenance and develop inaccuracies over time .
One of the first planar motors the so-called Sawyer motor has typically two
linear stepping motors combined into a single housing . The forcer of such a planar
motor can move anywhere on the stationary platen surface. It is capable of high position
resolution, rapid acceleration and high-speed moves with low mass payloads.
In this paper a new surface motor h