2중여자 2자유도 모터의 설계 및 특성해석

Design and Characteristic Analysis of a Doubly-Fed 2-DOF Motor

In this paper describes the design and characteristic analysis of a novel 2-DOF(Degree of Freedom) motor. For multi DOF actuating, several numbers of motors have been used. But the using of normal motors they connected each other in single joint, have necessary to a several type of complex power transmission devices. The 2-DOF motor can drive pan, tilt motion in only one unit and it is not necessary to use additional gears and links parts. Therefore by the using of 2-DOF spherical motor ran eliminate; combined effects of inertia, backlash, non-linear friction, and elastic deformation of gears. The validity of the analysis is confirmed by 3D finite element method.