Abstract
We have been developing electromagnetic spherical actuators capable of three-degree-of-freedom rotation. However, these actuators require complex control to realize simultaneous triaxial drive, because rotation around one axis interferes with rotation around another. In this paper, we propose a new three-degree-of-freedom actuator where 3-axes rotation can be controlled easily. The basic structure and the operating principle of the actuator are described. Then the torque characteristics and the dynamic characteristics are computed by employing 3D-FEM and the effectiveness of this actuator is clarified. Finally, the experimental results using the prototype of the actuator are shown to verify the dynamic performance.
Highlights
A multi-degree-of-freedom drive mechanism such as a robot arm is typically composed of more than one motor
We propose a new three-degree-of-freedom actuator where 3-axes rotation can be controlled easier than the previous
It can be confirmed that the proposed actuator can rotate three dimensionally following the target angle under position feedback control even though there is room for improvement in the control method
Summary
A multi-degree-of-freedom drive mechanism such as a robot arm is typically composed of more than one motor. This mechanism has some problems including a deterioration in efficiency, and an increase in weight and size. Multi-degree-of-freedom actuators are expected to become a key technology for downsizing and increasing the efficiency of the mechanism, and many types of actuators have been studied [1,2]. Current problems of spherical actuator design include low torque, narrow rotation angle, low-precision positioning, sensing method, mover support etc
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