Abstract
In keeping with consumers’ preferences for electromagnetic motors of ever smaller power consumption, it is necessary to improve the power efficiency of the electromagnetic motors used in unmanned aerial vehicles and robots without sacrificing their performance. Three-degree-of-freedom (3-DOF) spherical motors have been developed for these applications. Accordingly, this study modifies the 3-DOF spherical motor proposed by Hirata’s group in a previous study (Heya, A.; Hirata, K.; Niguchi, N., Dynamic modeling and control of three-degree-of-freedom electromagnetic actuator for image stabilization, IEEE Transactions on Magnetics 2018, 54, 8207905.) to accomplish a 3-DOF spherical motor for camera module with higher torque output in the large rotation angle. The main contribution of this study is to improve the static torque in the X- and Y-axes with an improved electromagnetic structure and a particular controlling strategy. In the structural design, eight symmetrical coils with specific coil combination are used instead of conventional four symmetrical coils. In this study, the development of the proposed 3-DOF spherical motor was constructed and verified by using a 3D finite-element method (3D FEM). The simulation results show that the proposed 3-DOF spherical motor has higher torque output in the large rotation angle when compared to the original 3-DOF spherical motor.
Highlights
With the increasing demand of industrial automation and robots around the world for a multi-degree-of-freedom (DOF) motion mechanism, a motion mode for motors has been developed from simple 1-DOF motion to a multi-DOF motion, and the application of humanoid is actively proceeding [1,2]
This study focuses on the design of a 3-DOF spherical motor for the camera module of the humanoid and autonomous systems
This study has proposed a modified 3-DOF spherical motor with an improved electromagnetic structure and a particular controlling strategy
Summary
With the increasing demand of industrial automation and robots around the world for a multi-degree-of-freedom (DOF) motion mechanism, a motion mode for motors has been developed from simple 1-DOF motion to a multi-DOF motion, and the application of humanoid is actively proceeding [1,2]. Spherical motors have several advantages, such as a compact structure, a flexible motion mode, no accumulation of motion bias, and a simple control method compared with conventional multi-DOF actuating systems that consist of several single-DOF motors [1,22,23]. They have been actively developed and have a wide application prospect in joints and eyeballs of the humanoid, unmanned aerial vehicles, autonomous cars, walking robots, and other fields. As a result, developing a camera module with multi-DOF spherical motors to mimic the movement of human eyeball is an important issue in a wide application of the humanoid and autonomous systems. Eight symmetrical coils with specific coil combination are used instead of the conventional four symmetrical coils
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