한국소음진동공학회:학술대회논문집 (Proceedings of the Korean Society for Noise and Vibration Engineering Conference)
- 한국소음진동공학회 2005년도 춘계학술대회논문집
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- Pages.668-673
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- 2005
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- 1598-2548(pISSN)
로봇 안구 구동용 구형 전자석 액추에이터 설계
Design of A Spherical Electromagnetic Actuator for Robot's Eyeball
초록
This paper proposes a simple actuator with a spherical rotor for robot's eyeball, which has two degrees of freedom. It features that both permanent magnets and coils are equipped in a stator and the spherical rotor with steps on its surface is driven by reaction of Lorentz force acting on the fixed coils. Such a structure is helpful to design a simple actuator and particularly suitable for a spherical actuator. Based on the FEM analysis, design parameters such as the sizes of core and permanent magnet, the width of step, coil turns and maximum current, are determined so as to maximize the torque and rotating angle. For the experimental verification of the feasibility, a prototype is manufactured and its operating characteristicsareinvestigated.
키워드