The Transactions of The Korean Institute of Electrical Engineers (전기학회논문지)

The Korean Institute of Electrical Engineers (대한전기학회)
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A Study on The Novel Structured 3-DOF Spherical Motor

새로운 3-자유도 구형 모터에 관한 연구

  • 이동철 (LG전자 DA연구소) ;
  • 김대경 (전자부품연구원 DCC사업센터) ;
  • 권병일 (한양대 공대 전자.컴퓨터공학부)
  • Published : 2008.08.01
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Abstract

This paper describes the design and characteristic analysis of a novel 3-DOF(Degree of Freedom) spherical motor. For multi DOF actuating, several numbers of motors have been used. By the using of normal motors they connected each other in single joint, is necessary to a several type of complex power transmission devices. The 3-DOF spherical motor can drive roll, pitch, and yaw motion in only one unit and it is not necessary to use additional gears and links parts. Therefore the using of 3-DOF spherical motor can eliminate; combined effects of inertia, backlash, non-linear friction, and elastic deformation of gears. In this paper, we propose the novel structured 3-DOF spherical motor and derive its principles of operation. Firstly, we designed concept model of novel structured 3-DOF spherical motor. Next, we derive the control method by calculating the currents. Also, to have intuitive driving control, we express the rotor position in equivalent angle-axis system and determine the exciting period of currents from the calculation result of the currents. To verify the control method, we calculated the currents by the position of rotor. and then we analyzed the characteristics by 3D Finite Element Method when the calculated currents are excited.

Keywords

References

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