Design and Analysis of a Permanent Magnet Spherical Actuator

This paper has proposed a 3-DOF spherical actuator consisting of a ball-shaped rotor with a full circle of permanent- magnet (PM) poles and a spherical-shell-like stator with two layers of circumferential air-core coils. One key feature of this design is the parametrization of PM and coil poles. Bas...

Full description

Saved in:
Bibliographic Details
Published inIEEE/ASME transactions on mechatronics Vol. 13; no. 2; pp. 239 - 248
Main Authors Yan, Liang, Chen, I-Ming, Lim, Chee Kian, Yang, Guilin, Lin, Wei, Lee, Kok-Meng
Format Journal Article
LanguageEnglish
Published New York IEEE 01.04.2008
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Actuator design
Actuators
Aerospace engineering
Coils
Design engineering
Induction motors
Magnetic analysis
Manufacturing
Permanent magnets
Poles
Rotors
spherical actuator
Stators
Torque
torque model
Online AccessGet full text

Cover

More Information
Summary:This paper has proposed a 3-DOF spherical actuator consisting of a ball-shaped rotor with a full circle of permanent- magnet (PM) poles and a spherical-shell-like stator with two layers of circumferential air-core coils. One key feature of this design is the parametrization of PM and coil poles. Based on the torque model of the PM spherical actuator, the relationship between poles' parameters and torque output can be demonstrated. As a result, the actuator design aiming at achieving maximum torque output can be carried out from the relationships. Another advantage of this spherical actuator is its singularity-free workspace, which is verified with the actuator torque model and condition numbers.
Bibliography:ObjectType-Article-2
SourceType-Scholarly Journals-1
ObjectType-Feature-1
content type line 23
ISSN:1083-4435
1941-014X
DOI:10.1109/TMECH.2008.918573