Title :
Torque modeling and analysis of spherical cctuators with iron stator
Author :
Yan, Liang ; Chen, I-Ming ; Chee Kian Lim ; Yang, Guilin ; Lin, Wei ; Lee, Kok-Meng
Author_Institution :
Sch. of Mech. & Aerosp. Eng., Nanyang Technol. Univ., Singapore, Singapore
Abstract :
This paper presents a ball-joint-like three-degree-of-freedom (3-DOF) permanent magnet (PM) spherical actuator which features a ball-shaped rotor with multiple PM poles and a spherical iron stator with air-core coils. Torque output of this PM spherical actuator is formulated analytically. Based on the torque model, simulation result of the actuator torque variation is presented. In addition, the effect of the stator iron on the torque output is evaluated.
Keywords :
microactuators; permanent magnet machines; stators; torque; 3-DOF; actuator torque variation; air-core coils; ball-joint-like three-degree-of-freedom; ball-shaped rotor; iron stator; permanent magnet spherical actuator; spherical actuators; torque model; torque modeling; Actuators; Coils; Induction motors; Iron; Magnetic analysis; Reluctance motors; Rotors; Stator cores; Stator windings; Torque;
Conference_Titel :
Robotics and Automation, 2009. ICRA '09. IEEE International Conference on
Conference_Location :
Kobe
Print_ISBN :
978-1-4244-2788-8
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2009.5152200
