다자유도 구동 스피리컬 전동기의 성능 개선 모델에 관한 연구

A study on performance improvement of Multi-degree of freedom spherical motor

The spherical motor is very valuable actuator, because the motor can operate as multi-degree of freedom rotation. Especially, the motor is useful machine for robot's joint by reason of high efficiency, compact size, high power, precise control, etc. These characteristics of spherical motor have to require continuously research. Therefore, in this paper, two different types of spherical motor are compared and double-airgap spherical motor as novel stucture is introduced.