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- W2054158075 abstract "The analysis, design and control of a novel actuator, with a spherical permanent magnet rotor and a simple stator winding and position sensing arrangement, is described. The actuator is capable of two degrees-of-freedom, and has a high specific torque. Expressions for the magnetic field distribution and the torque vector and back-EMF constants are derived analytically, and optimal design parameters, which result in maximum output torque or maximum acceleration for a given payload, are derived. The control of the actuator, whose dynamics are similar to those of robotic manipulators, is facilitated by the establishment of a complete actuation system model and the application of a robust control law. The validity of the analysis and design techniques, and the effectiveness of the control strategy, have been confirmed by measurements. (10 pages)" @default.
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- W2054158075 date "1997-01-01" @default.
- W2054158075 modified "2023-09-23" @default.
- W2054158075 title "Development of a novel spherical permanent magnet actuator" @default.
- W2054158075 doi "https://doi.org/10.1049/ic:19970525" @default.
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