DocumentCode
2376969
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
fYear
2009
fDate
12-17 May 2009
Firstpage
164
Lastpage
169
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2009. ICRA '09. IEEE International Conference on
Conference_Location
Kobe
ISSN
1050-4729
Print_ISBN
978-1-4244-2788-8
Electronic_ISBN
1050-4729
Type
conf
DOI
10.1109/ROBOT.2009.5152200
Filename
5152200
Link To Document