Proposal of 3-Degree-of-Freedom Spherical Actuator with Auxiliary Poles
Proposal of 3-Degree-of-Freedom Spherical Actuator with Auxiliary Poles
复制标题
带辅助极的三自由度球形执行器的提案
DOI：
10.1109/isef45929.2019.9097061
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发表时间：
2019
期刊：
影响因子：
--
通讯作者：
Tomoya Amazutsumi
中科院分区：
文献类型：
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作者：
K. Takahara;K. Hirata;N. Niguchi;Tomoya Amazutsumi
多自由度驱动系统通常由多个单自由度电机组成，结构庞大、笨重、复杂。为了解决这些问题，人们对各种多自由度球面驱动器进行了积极的研究。然而，球形执行器需要大量的电流相。为了减少电流相数，提出了一种具有辅助极点和5个电流相的三自由度球形执行器。最后，通过三维有限元分析对所提出的执行器的力矩特性进行了评估。
Multi-Degree-of-Freedom (Multi-DOF) actuating systems are usually composed of several single-DOF motors, which results in large, heavy and complicated structures. In order to solve these problems, various multi-DOF spherical actuators have been actively studied. However, a large number of current phases are required in the spherical actuator. In this paper, in order to reduce the number of current phases, a 3-DOF spherical actuator with auxiliary poles and 5 current phases is proposed. Finally, the torque characteristics of the proposed actuator are evaluated through 3-D FEA.