Browse > Article
http://dx.doi.org/10.6113/TKPE.2017.22.3.207

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

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)
Publication Information
The Transactions of the Korean Institute of Power Electronics / v.22, no.3, 2017 , pp. 207-215 More about this Journal
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
Multi-DOF actuator; Spherical actuator; Electric machines; Finite element analysis; Permanent magnets; Voice coil motor;
Citations & Related Records
연도 인용수 순위
  • Reference
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.   DOI
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.   DOI
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.   DOI
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.   DOI
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.   DOI
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.   DOI
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.   DOI
11 J. McBean and C. Breazeal, "Voice coil actuators for human-robot interaction," IEEE/RSJ Int. Conf. (IROS04), Vol. 1, pp. 852-858, 2004.