Independently controllable electromagnetic spherical actuator

We have been developing electromagnetic spherical actuators capable of three-degree-of-freedom rotation. However, these actuators require complex control because rotation around one axis interferes with rotation around another. In this paper we propose a new 3-DOF actuator where the 3-axes can be independently controlled. The basic structure and the operating principle of the actuator are described. Then the static and dynamic performances are computed employing 3D-FEM and the effectiveness of this actuator is clarified.