Analysis Accuracy in Positioning Calculation for Three-Degree-of-Freedom Spherical Actuator
Analysis Accuracy in Positioning Calculation for Three-Degree-of-Freedom Spherical Actuator
复制标题
三自由度球形执行机构定位计算精度分析
DOI：
10.1109/tmag.2021.3067323
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发表时间：
2021
影响因子：
2.1
通讯作者：
K. Takahara
中科院分区：
文献类型：
--
作者：
H. Fusayasu;Yuji Masuyama;K. Hirata;N. Niguchi;K. Takahara
多自由度（multi-DOF）球形致动器已被开发用于机器人和工业机械领域。我们提出了一种外转子型三自由度球形驱动器，可以实现高扭矩密度。每个线圈输入电流使用基于转矩常数矩阵的转矩生成方程来计算。虽然已经提出了计算电流的控制方法，但是对于定位精度要求为1 mm以下的精密机器人，转矩模型的分析精度还没有得到充分的验证。为了将本公司的三自由度球形致动器应用于这样的精密机器人，我们开发了直接定位机器人的动态分析方法。在这篇文章中，我们报告的因素，影响分析的准确性和准确性的提高。
Multi-degree-of-freedom (multi-DOF) spherical actuators have been developed for the fields of robotics and industrial machinery. We have proposed an outer-rotor-type three-DOF spherical actuator that can realize a high torque density. Each coil input current is calculated using a torque-generating equation based on the torque constant matrix. Although a control method to calculate the current has already been proposed, the analysis accuracy of the torque model is not sufficiently examined for a precision robot that requires a positioning accuracy of 1 mm or less. To apply our three-DOF spherical actuator to such a precision robot, we have developed a dynamic analysis method that directly positions the robot. In this article, we report on the factors that affect the analysis accuracy and accuracy improvement.