Optimization of stator pole arrangement for 3-DOF spherical actuator using genetic algorithm
Optimization of stator pole arrangement for 3-DOF spherical actuator using genetic algorithm
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DOI：
10.1109/intmag.2015.7156885
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发表时间：
2015-05
期刊：
影响因子：
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通讯作者：
Y. Nishiura;K. Hirata;K. Oya
中科院分区：
文献类型：
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作者：
Y. Nishiura;K. Hirata;K. Oya
多自由度作动系统是机器人技术和工业机械领域的发展要求。但多自由度作动系统一般由单自由度电机组成，结构庞大、笨重、复杂。因此，多自由度执行器有望成为解决这些问题的关键技术，许多类型的执行器已被研究[1]-[3]。然而，在转矩密度、控制方法和传感系统等方面仍存在一些问题。在这种情况下，我们正在研究一种具有多极定子和多极对永磁体转子的外转子三自由度球面作动器。为了提高转矩密度，本文采用遗传算法对定子极位进行优化，并验证了优化的有效性。
The development of multi degree-of-freedom actuating systems is required in robotics and industrial machinery fields. In general, however, the actuating system with several degrees of freedom is composed of single degree-of-freedom motors, which results in large, heavy and complicated structures. Therefore, multi-degree-of-freedom actuators are expected to become a key technology to solve these problems and many types of actuators have been studied [1]-[3]. There remain, however, some problems in terms of the torque density, control method, and sensing systems. Under the circumstances, we are studying on an outer rotor 3-DOF spherical actuator with a multi-poles stator and a multi-pole pair permanent magnets rotor. In this paper, to increase the torque density, stator pole arrangement is optimized using Genetic Algorithm (GA) and the effectiveness of the optimization is confirmed.