Study on Working Mechanism and Control Method of New Magnetic Suspension Gripper

The mechanical torsion gripper has widely been used in existing gripper looms which have difficulties in weaving ultra-wide fabrics. The mechanical gripper system generates mechanical impact and friction, limits weft insertion speed, and consumes high energy. This paper introduces a novel high-speed ”frictionless transmission” magnetic method that directly drives gripper continuously through the width of fabric. The basic principle of the magnetic levitation gripper is presented and the dynamics of the gripper model, based on the system magnetic-mechanics analysis is analyzed. For numerical simulation, the revision method is used to solve the original system’s stable state, which includes information about the new magnetic suspension gripper, electronic coil array and controller. A lag-leading revision method is proposed to improve the weft insertion performance and deal with the adverse effects from hysteresis nonlinearity and external disturbance. Several experiments have been conducted to evaluate the tracking performance and contour accuracy of the proposed approach