The Transactions of the Korean Institute of Power Electronics (전력전자학회논문지)

The Korean Institute of Power Electronics (전력전자학회)
권호 표지
DOI QR코드

DOI QR Code

Analysis of a 3-Degree-of-Freedom Spherical Actuator using VCM Principle

보이스 코일 모터 방식을 이용한 3 자유도 구형모터의 분석

  • Chu, Junghyun (Dept. of Adaptive Machine Systems, Graduate School of Engineering, Osaka University) ;
  • Niguchi, Noboru (Dept. of Adaptive Machine Systems, Graduate School of Engineering, Osaka University) ;
  • Hirata, Katsuhiro (Dept. of Adaptive Machine Systems, Graduate School of Engineering, Osaka University)
  • Received : 2016.12.19
  • Accepted : 2017.02.04
  • Published : 2017.06.20
Download PDF
⟨ Previous Next ⟩

Abstract

The superior performance of the spherical actuator is establishing a new trend in the industry. Spherical actuators can perform multiple degrees-of-freedom (DOF) motions by using only one actuator. Therefore, a multi-DOF device using the spherical actuator can reduce weight and simplify the structure. This paper proposes a new spherical actuator that uses the operational principle of a rotational voice coil motor. The effectiveness of the actuator is verified through 3-D finite element method.

Keywords

References

  1. M. K. Rashid and Z. A. Khalil, "Configuration design and intelligent stepping of a spherical motor in robotic joint," Journal of Intelligent and Robotic Systems, Vol. 40, No. 2, pp. 165-181, June 2004. https://doi.org/10.1023/B:JINT.0000038951.98843.95
  2. L. Rossini, O. Ch'etelat, E. Onillon, and Y. Perriard, "Force and torque analytical models of a reaction sphere actuator based on spherical harmonic rotation and decomposition," IEEE/ASME Transactions, Vol. 18, No. 3, pp. 1006-1018, May 2012. https://doi.org/10.1109/TMECH.2012.2195501
  3. E. H. M. Weck, T. Reinartz, G. Henneberger, and R. W. De Doncker, "Design of a spherical motor with three degree of freedom," Annals CIRP, Vol. 49, No. 1, pp. 289-294, Jan. 2000. https://doi.org/10.1016/S0007-8506(07)62948-5
  4. W. Chen, L. Zhang, L. Yan, and J. Liu, "Design and control of a three degree-of-freedom permanent magnet spherical actuator," Sensors and Actuators A: Physical, pp. 75-86, 2012.
  5. L. Yan, I. M. Chen, C. K. Lim, G. Yang, W. Lin, and K. M. Lee, "Design and analysis of a permanent magnet spherical actuator," IEEE/ASME Transactions, Vol. 13, pp. 239-248, 2008. https://doi.org/10.1109/TMECH.2008.918573
  6. J. Wang, K. Mitchell, G. W. Jewell, and D. Howe, "Multi-degree-of-freedom spherical permanent magnet motor," in Proc. Int. Conf. Robot, pp. 1798-1805, 2001.
  7. L. Yan, I. M. Chen, G. Yang, and K. M. Lee, "Analytical and experimental investigation on the magnetic field and torque of a permanent magnet spherical actuator," IEEE/ASME Transactions, Vol. 11, pp. 409-419, 2006. https://doi.org/10.1109/TMECH.2006.878545
  8. S. Maeda, K. Hirata, and M. Tong, "Feedback control of electromagnetic actuator with three degrees of freedom using optical image sensors," Electr. Eng. Japan, Vol. 181, 2012.
  9. M. Tsukano, Y. Sakaidani, K. Hirata, N. Niguchi, S. Maeda, and A. Zaini, "Analysis of 2-degree of freedom outer rotor spherical actuator employing 3-D finite element method," IEEE Transactions on magnetics, Vol. 49, pp. 2233-2236, 2013. https://doi.org/10.1109/TMAG.2012.2237390
  10. H. C. Kim, H. Y. Kim, D. H. Ahn, and D. G. Gweon, "Design of a new type of spherical voice coil actuator," Sensors and Actuators A: Physical, Vol. 203, pp. 181-188, 2013. https://doi.org/10.1016/j.sna.2013.08.030
  11. J. McBean and C. Breazeal, "Voice coil actuators for human-robot interaction," IEEE/RSJ Int. Conf. (IROS04), Vol. 1, pp. 852-858, 2004.