By Liang Yan, I-Ming Chen, Chee Kian Lim, Guilin Yang, Kok-Meng Lee
A round actuator is a singular electrical machine which can in achieving 2/3-DOF rotational motions in one joint with electrical strength enter. It has merits akin to compact constitution, low mass/moment of inertia, quickly reaction and non-singularities in the workspace. It has promising purposes in robotics, car, production, drugs and aerospace undefined.
This is the 1st monograph that introduces the study on round actuators systematically. It broadens the scope of actuators from traditional single-axis to multi-axis, on the way to aid either rookies and researchers to reinforce their wisdom on electromagnetic actuators. usual analytic modeling tools for magnetic box and torque output are built, which might be utilized to the improvement of different electromagnetic actuators. A parametric layout method that enables speedy research and layout of round actuators for numerous functions is proposed. a singular non-contact high-precision 3-DOF round movement sensing method is constructed and evaluated with experiments, which exhibits that it will possibly in achieving one order of value larger precision than traditional tools. The applied sciences of nondimensionalization and normalization are brought into magnetic box research the 1st time, and a benchmark database is confirmed for the reference of alternative researches on round actuators.
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Extra resources for Design, Modeling and Experiments of 3-DOF Electromagnetic Spherical Actuators
In this study, P = 8, and α0 is the PM pole angle at the center line in φ -direction. 18) in the PM pole (Region II). For the rest non-magnetized regions in the rotor, the residual magnetization is equal to zero. When applying boundary conditions to solve the unknowns in the general solution of scalar potential, only the radial component of residual magnetization vector M0r will be used to express the flux density continuity between regions. Components M0θ and M0φ do not exist in any boundary condition.
Unlike existing VRSM motors where design focuses have been on controlling 3-DOF angular displacements, the SWM offers a means to control the orientation of a continuously rotating shaft in an open-loop (OL) fashion. They provide a formula for deriving different switching sequences (full step and fractional step) for a specified current magnitude and pole configurations. The concept feasibility of an OL controlled SWM has been experimentally demonstrated on a prototype that has 8 rotor PM pole-pairs (two layers) and 10 stator electromagnet pole-pairs (two layers) as illustrated in Fig.
Wu T L, Chen J H, Chang S H et al (2008) A Six-DOF Prismatic-Spherical-Spherical Parallel Compliant Nanopositioner. IEEE Transactions on Ultrasonics, Ferroelectrics, and Frequency Control, vol. 55, no. 12:2544–2551, December 2008. 4. Paganelli D (2007) Avoiding Parallel Singularities of 3UPS and 3UPU Spherical Wrists. Proceedings of 2007 IEEE International Conference on Robotics and Automation, 1201–1206, Rome, Italy, 10–14 April 2007. 5. Chung B G, Yi B J, Suh I H, Kim W K, Chung W K et al (2001) Design and Analysis of a Spatial 3-DOF Micromanipulator for Tele-operation.