Development of a variable-inertia device with a magnetic planetary gearbox

Mi Ching Tsai, Cheng Chi Huang

Research output: Contribution to journalArticle

17 Citations (Scopus)


This paper presents a mechanical device with controllable inertia, in which a magnetic planetary gearbox (PG) is employed to hold two free terminals (the carrier and sun gear) and one feedforward control terminal (the ring gear). Based on the concept of inerter design and impedance control, the ring-gear motor controls the equivalent inertia of the carrier. The sealless nature of the proposed noncontact magnetic PG provides a low-inertia design ability and an over-load protection characteristic for a high-torque transmission. The control block diagram technique is utilized to represent the dynamic model of the variable-inertia device for the equivalent-inertia derivation and computer simulation, in which its equivalent inertia can be found by the transfer function from the torque to the acceleration at the carrier. Finally, the dynamic model is verified by experiments, and the controlled range of the equivalent inertia is illustrated.

Original languageEnglish
Article number5634120
Pages (from-to)1120-1128
Number of pages9
JournalIEEE/ASME Transactions on Mechatronics
Issue number6
Publication statusPublished - 2011 Dec 1

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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