Title :
A small-sized spherical stepping motor and the controls
Author :
Shi, Liming ; Motomura, Yoichi
Author_Institution :
Inst. of Electr. Eng., Chinese Acad. of Sci., Beijing, China
Abstract :
This paper describes a small-sized spherical-surface stepping motor and its control algorithm, which has been developed successfully in Yasakawa Electric Corporation, Japan. The motor consists two arc-shape variable-reluctance (VR) linear stepping motors, and is controlled precisely by micro stepping current. Host controller can control up to four stepping motors or servomotors simultaneously or separately. Compared to other spherical-surface motion machines, this motor system has been characterized by compact-structure, light mass, high positioning precision, large moving range, high speed and large torque. The experimental results have shown that this motor and the control system are very effective solutions as important actuators in robots industry (intelligent robot´s eyes and limb-joints), astronomical apparatus and many other fields.
Keywords :
linear motors; machine control; reluctance motors; servomotors; stepping motors; arc-shape variable-reluctance linear stepping motors; microstepping current; servomotors; spherical stepping motor; spherical-surface motion machines; Control systems; Electric variables control; Electrical equipment industry; Intelligent actuators; Intelligent robots; Micromotors; Service robots; Servomotors; Torque; Virtual reality;
Conference_Titel :
Electrical Machines and Systems, 2003. ICEMS 2003. Sixth International Conference on
Conference_Location :
Beijing, China
Print_ISBN :
7-5062-6210-X