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- W2186196602 abstract "This paperpresents a ball-joint-like three-degree- of-freedom (3-DOF) permanent magnet(PM)spherical actuator whichfeatures aball-shaped rotorwithmultiple PM poles and aspherical ironstator withair-core coils. Themagnetic field of thePM-polerotorofthis PM spherical actuator isformulated analytically. Simulation result ofthemagnetic field variation is thenpresented. Inaddition, theeffect ofthestator irononthe magnetic field isevaluated, whichisveryuseful fordesign ofPM spherical actuators. IndexTerms-spherical actuator, magnetic field, ironstator I.INTRODUCTION Compared withconventional three-degree-of-freedom (3- DOF)spherical motion mechanism byusingseveral single- axisactuators connected inparallel orinseries, aspherical actuator that cangenerate multi-DOF rotational motion inone joint hastheadvantages ofcompact structure, fast response andsingularity freeinworkspace. Williams andLaithwaite (1)(2)havedesigned thefirst 2-DOFspherical induction motor. Themagnetic field generated bythestator windings induces acurrent ontherotor surface, andcauses therotor toincline. Daveyetal.(3)derived thetorque modelofthis induction motorbyintegrating theMaxwell stress moment overthespherical rotorsurface andproposed itsuseasa robot wrist (4). Themechanical complexity andtheinherent poorservo characteristics ofthespherical induction motorled Leeetal.(5)todevelop a3-DOFspherical stepper based ontheprinciple ofvariable-reluctance. Thetorque output of" @default.
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- W2186196602 date "2008-01-01" @default.
- W2186196602 modified "2023-09-22" @default.
- W2186196602 title "MagneticFieldAnalysis of SphericalActuators with IronStator" @default.
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