Title :
3 Axes rotational and frequency characteristics of a hexahedron-octahedron based spherical stepping motor
Author :
Um, Yonsu ; Yano, Tomoaki ; Hur, Boyoung
Author_Institution :
Adv. Ind. Sci. & Technol., Adv. Manuf. Res. Inst., Ibaraki, Japan
Abstract :
We have been developed a novel spherical stepping motor (6-8 spherical stepping motor) which is based on a pair of a regular hexahedron and octahedron in order to make an application as a mechanical system such as a joint of a humanoid robot or an industrial robot. In this study, the rotational characteristics on the 6-8 spherical stepping motor were obtained by the 3D electromagnet and motion coupled simulation. As the result, the static torque characteristic, the frequency-velocity characteristic and torque characteristic around 3-axes were described.
Keywords :
electromagnets; humanoid robots; industrial robots; stepping motors; torque; 3 axes rotational characteristics; 3D electromagnet; frequency-velocity characteristic; hexahedron-octahedron based spherical stepping motor; humanoid robot; industrial robot; mechanical system; motion coupled simulation; static torque characteristic; Actuators; Coils; Electromagnetic coupling; Frequency; Humanoid robots; Manufacturing; Metals industry; Rotors; Stators; Torque;
Conference_Titel :
Micro-NanoMechatronics and Human Science, 2009. MHS 2009. International Symposium on
Conference_Location :
Nagoya
Print_ISBN :
978-1-4244-5094-7
Electronic_ISBN :
978-1-4244-5095-4
DOI :
10.1109/MHS.2009.5352104
