Proposal of electromagnetic spherical actuator with 3-DOF
Proposal of electromagnetic spherical actuator with 3-DOF
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DOI：
10.1108/03321641011044415
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发表时间：
2010-01-01
影响因子：
0.7
通讯作者：
Maeda, Shuhei
中科院分区：
文献类型：
--
作者：
Ikejiri, Shohei;Hirata, Katsuhiro;Maeda, Shuhei
目的-本文的目的是提出一种新的三自由度电磁球形驱动器。能够在任意轴上操作的多自由度致动器由于效率、重量、尺寸等的解决方案而引起关注。球形驱动器的研究作为应用的关节和眼球的机器人，因为他们可以自由地在每个轴向旋转。设计/方法/途径-本文提出了一种新的电磁球形驱动器与三度的-的旋转自由度，并通过三维有限元法（FEM）计算的致动器的扭矩特性。计算的有效性被确认通过测量的prototype.Findings -它被发现，该致动器实现了超过1.0 Nm的高扭矩在每个轴周长。独创性/价值-提出了一种新的球形三度的自由度致动器。采用三维有限元法计算了改进模型的转矩特性。通过与样机实测结果的对比，验证了分析的正确性。进一步提出了提高转矩的改进模型，验证了模型的有效性。
Purpose - The purpose of this paper is to propose a new electromagnetic spherical actuator with three-degree-of-freedom. Multi-degree-of-freedom actuators which can be operated in arbitrary axis come to attract attention because of the solution for efficiency, weight, size, and so on. Particularly, spherical actuators are studied as the application to the joints and eyeballs for robots because they can be freely rotated in every axis direction.Design/methodology/approach - The paper proposes a new electromagnetic spherical actuator with three-degree-of-freedom in rotation, and the torque characteristics of the actuator are computed by the 3D finite element method (FEM). The validity of the computation is confirmed through the measurement of a prototype.Findings - It is found that this actuator realized the high torque of more than 1.0 Nm in every axis circumference.Originality/value - A new spherical three-degree-of-freedom actuator is proposed. The torque characteristics of the improved model are calculated employing the 3D FEM. The validity of the analysis is verified through the comparison with the measured results of the prototype. Furthermore, the improved model is proposed to increase the torque, and the effectiveness of the model is confirmed.