Topology structure of long‑stroke gravity compensation vertical actuator based on air gap adjustment

Yuke Wu; Jie Zhang; Wenyuan Yan; Shuheng Qiu; Chi Zhang

Topology structure of long‑stroke gravity compensation vertical actuator based on air gap adjustment

Vol. 26, No. 4, pp. 866-874, Apr. 2026

10.1007/s43236-025-01110-5

Gravity compensation

Constant force magnetic levitation

Magnetic spring

VCM

Abstract

This paper designs a new topology for a gravity-compensated vertical actuator. It uses the change in the inner diameter of the stator yoke to adjust the air gap distribution to achieve a longer working stroke. At the same time, this actuator couples Lorentz coils to provide actuation capability. It has the advantages of a compact structure, low stiffness, and low-temperature rise. It can support loads without an external input current, which improves the response speed of the motor and reduces the current required for motor coil actuation. The working principle is explained using magnetic field theory, and the critical size parameters of the actuator are optimized by combining the response surface method with finite element analysis. An experimental platform is built to test its gravity compensation force and actuation force. Experimental results show that this vertical actuator provides a support force greater than 40 N with a stroke greater than ± 9 mm.

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Cite this article

[IEEE Style]

Y. Wu, J. Zhang, W. Yan, S. Qiu, C. Zhang, "Topology structure of long‑stroke gravity compensation vertical actuator based on air gap adjustment," Journal of Power Electronics, vol. 26, no. 4, pp. 866-874, 2026. DOI: 10.1007/s43236-025-01110-5.

[ACM Style]

Yuke Wu, Jie Zhang, Wenyuan Yan, Shuheng Qiu, and Chi Zhang. 2026. Topology structure of long‑stroke gravity compensation vertical actuator based on air gap adjustment. Journal of Power Electronics, 26, 4, (2026), 866-874. DOI: 10.1007/s43236-025-01110-5.