A novel spherical permanent magnet actuator with three degrees-of-freedom \ud

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Wang, J.B. ; Wang, W.Y. ; Jewell, G.W. ; Howe, D. (1998)
  • Subject:
    arxiv: Computer Science::Robotics

The paper describes a new version of spherical actuator, which is capable of three degrees-of-freedom and a high specific torque. The three-dimensional magnetic field distribution is established using an analytical technique formulated in spherical co-ordinates, and enables the torque vector and back-emf to be derived in closed forms. This facilitates the characterisation of the actuator, and provides the foundation for design optimisation, actuator dynamic modelling and servo control development
  • References (6)

    [I] K Davey, G Vachtsevanos and R Powers, “The analysis of fields and torques in spherical induction motors” IEEE Trans on Magn, VOI 23, pp 273-282, 1987

    [2] K Lee and C Kwan , “Design concept development of a spherical stepper for robotic applications” IEEE Trans on Robot Automat vol 7, pp 175-181, 1991

    [3] B Bederson, R Wallace and E Schwartz, “A miniature pan-tilt actuator the spherical pointing motor” IEEE Trans on Robot Automat, vol 10, pp 298-308, 1994

    [4] K Lee, J Pel and R Roth, “Kinematic analysis of a three degree of freedom spherical wrist actuator”, Mechatronics, Vol 4, pp58 1-605, 1994

    [ 5 ] J Wang, G W Jewell and D Howe, “Analysis, design and control of a novel spherical permanent magnet actuator” IEE Proc -Electr Power Appl ,in press, 1997

    [6] J Wang, G W Jewell and D Howe, “Modelling of a novel spherical permanent magnet actuator” Proc of IEEE Inter Conf on Robotics and Automation, New Mexico, U S A, 1190-1195, 1997

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