This paper describes the optimization of a contact-less electromagnetic planar actuator (6 DOF) and a manipulator (2 DOF). The manipulator adds weight to the system and the movement of the manipulator on top of the planar actuator causes disturbance forces and torques that must be counteracted by the magnetic bearings. The requirements for the planar actuator in such a system are discussed in this paper as well as the optimization variables, goals and constraints. In addition, the influence of the accuracy of the combined analytical-numerical model of the planar actuator on the optimization is addressed. Finally, the topology is presented that meets all criteria.
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