Optimization of stator pole arrangement for 3-DOF spherical actuator using genetic algorithm

The development of multi degree-of-freedom actuating systems is required in robotics and industrial machinery fields. In general, however, the actuating system with several degrees of freedom is composed of single degree-of-freedom motors, which results in large, heavy and complicated structures. Th...

Full description

Saved in:
Bibliographic Details
Published in2015 IEEE Magnetics Conference (INTERMAG) p. 1
Main Authors Nishiura, Y., Hirata, K., Oya, K.
Format Conference Proceeding
LanguageEnglish
Japanese
Published IEEE 01.05.2015
Subjects
Actuators
Genetic algorithms
Optimization
Permanent magnets
Rotors
Stators
Torque
Online AccessGet full text

Cover

More Information
Summary:The development of multi degree-of-freedom actuating systems is required in robotics and industrial machinery fields. In general, however, the actuating system with several degrees of freedom is composed of single degree-of-freedom motors, which results in large, heavy and complicated structures. Therefore, multi-degree-of-freedom actuators are expected to become a key technology to solve these problems and many types of actuators have been studied [1]-[3]. There remain, however, some problems in terms of the torque density, control method, and sensing systems. Under the circumstances, we are studying on an outer rotor 3-DOF spherical actuator with a multi-poles stator and a multi-pole pair permanent magnets rotor. In this paper, to increase the torque density, stator pole arrangement is optimized using Genetic Algorithm (GA) and the effectiveness of the optimization is confirmed.
ISSN:2150-4598
2150-4601
DOI:10.1109/INTMAG.2015.7156885