Computer based position control of the mover of force-producer used in a spherical system

Design concept and development of spherical systems have been presented by the author 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 can adversely affect the payload of the system. 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