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

  • 제57권8호
  • /
  • Pages.1362-1370
  • /
  • 2008
  • /
  • 1975-8359(pISSN)
  • /
  • 2287-4364(eISSN)
대한전기학회 (The Korean Institute of Electrical Engineers)
권호 표지

새로운 3-자유도 구형 모터에 관한 연구

A Study on The Novel Structured 3-DOF Spherical Motor

  • 이동철 (LG전자 DA연구소) ;
  • 김대경 (전자부품연구원 DCC사업센터) ;
  • 권병일 (한양대 공대 전자.컴퓨터공학부)
  • 발행 : 2008.08.01
PDF 다운로드
⟨ 이전 논문 다음 논문 ⟩

초록

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.

키워드

참고문헌

  1. K.M Lee, G. Vachtsevanos, C. k. Kwan, "Development of a spherical stepper wrist motor", Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on 24-29 April 1988 Page(s):267 - 272 vol.1
  2. J. Wang, K. Mitchell, G.W. Jewell, D. Howe, "Multi-Degree-of-Freedom Spherical Permanent Magnet Motors", Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on Volume 2, 2001 Page(s):1798 - 1805 vol.2
  3. L. Martins Neto, R.M. Mendes, D.A. Andeade, "Spherical Motor - A Three-Dimensional Position Servo", Electrical Machines and Drives, 1995. Seventh International Conference on (Conf. Publ. No. 412) 11-13 Sep 1995 Page(s):227-231
  4. 양창일, 박준혁, 백윤수, "전자석의 자기력 제어를 이용한 구형 3 자유도 액추에이터의 설계 및 제어", 대한기계학회논문집 A권, 제25권 제9호, 2001, pp. 1341-1349
  5. Y. Kaneko, I. Yamada, and K. Itao, "A spherical DC servo motor with three degrees-of-freedom", Trans. ASME Dynam. Syst. Meas. Contr., vol. 111, no. 3, pp. 398-402, Sept. 1989 https://doi.org/10.1115/1.3153067
  6. K.M. Lee and C. k. Kwan, "Design concept development of a spherical stepper for robotic applications", IEEE Trans. Robot. Automat., voil. 7, pp. 175-181, Feb. 1991 https://doi.org/10.1109/70.68082
  7. K. Davey, G. Vachtsevanos, and R. Powers, "The analysis of fields and torques in spherical induction motors", IEEE Transactions on Magnetics, vol. 23, no. 1, pp. 273-282, Jan. 1987 https://doi.org/10.1109/TMAG.1987.1064749
  8. F.Williams, E. Laithwaite, and G. F. Eastham, "Development and design of spherical induction motors", Proceeding of the IEEE, pp. 471-484, Dec. 1959
  9. Foggia. A, Olivier. E, Chappuis. F, Sabonnadiere. J.C, "A new three degrees of freedom electromagnetic actuator", in IEEE Industry Applications Society Annual Meeting, 1988, pp. 137-141
  10. R. L. Hollis, S. E. salcudean, and A. P. Allan, "A six-degree-of-freedom magnetically levitated variable compliance fine-motion wrist: design, modeling, control," IEEE Transactions on Robotics and Automation, vol. 7, no. 1, pp, 320-332, June 1991 https://doi.org/10.1109/70.88141
  11. Bederson, B.B. Wallace, R.S. Schwartz, E.L, "A miniature pan-tilt actuator: the spherical pointing motor", Robotics and Automation, IEEE Transactions on Volume 10, Issue 3, June 1994 Page(s):298-308 https://doi.org/10.1109/70.294205
  12. John J. Craig, "Introduction to Robotics Mechanics and Control", Second Edition, Addison-Wesley Publishing Company, 1989
  13. William H. Hayt, John A. Buck "Engineering Electromagnetics", Sixth Edition, McGRAW-HILL, 2001