Motion control of force producer in spherical system

The author has presented a design concept and development of spherical systems from various approaches (spherical system based on solenoids, U-core, rotary motor). The moving condition in a solenoid based spherical system has been identified to be critical. In this system a mover is a flexible electromechanical moving joint (FEMJ). The FEMJ is moved with its weight while operating. This inconsistency can be overcome by reduction of the weight of the mover(s) and improving the force-to-weight ratio of the moving members. This paper presents the methodology for controlling the position of the mover(s) for analysis of propulsion force of solenoid-based force-producers used in a spherical system by which the optimum position of the mover can be identified without remodeling the design for various steps.