Analysis of 2-Degree of Freedom Outer Rotor Spherical Actuator Employing 3-D Finite Element Method

Author

Tsukano, M. ; Sakaidani, Yo ; Hirata, Kazufumi ; Niguchi, Noboru ; Maeda, Shigenobu ; Zaini, A.

Author_Institution

Osaka Univ., Suita, Japan

Volume

49

Issue

5

fYear

2013

fDate

May-13

Firstpage

2233

Lastpage

2236

Abstract

To drive a conventional motor drive system, the number of degrees of freedom needed has to be equal to the number of actuators employed, and this causes the system to be larger and heavier. To solve these problems, the development of a spherical actuator which can rotate around multi axes is being conducted. In this paper, we propose a new spherical actuator with an outer rotor to produce higher torque density and describe the control method for open loop drive. Static torque and dynamic characteristics of the actuator are clarified by employing 3-D finite element method and are verified from experimental results of a prototype.

Keywords

actuators; finite element analysis; machine control; motor drives; open loop systems; rotors; torque control; 2-degree of freedom outer rotor spherical actuator; 3D finite element method; actuator dynamic characteristics; control method; conventional motor drive system; multiaxes; open loop drive; spherical actuator development; static torque; torque density; Dynamic analysis; finite element method; open loop control; spherical actuator;

fLanguage

English

Journal_Title

Magnetics, IEEE Transactions on

Publisher

ieee

ISSN

0018-9464

Type

jour

DOI

10.1109/TMAG.2012.2237390

Filename

6514716