Name
Abstract | ||
|---|---|---|
The focus of this research is to design and develop a spherical actuator for robotics applications. Unlike prior works, this project proposes a new type of a DC spherical manipulator that operates from the forces generated between pairs of air core electromagnetic coils and permanent magnets. The novelty of the proposed design is demonstrated by utilizing air cores as stator poles. This eliminates the drawbacks of existing spherical electromagnetic device where the performance is significantly hindered due to inherent detent force, hysteresis and saturation issue that arises from the ferromagnetic component. The ability to be able to accurately model the electromechanical phenomenon and predict the output torque is essential for high precision motion control. Numerical analysis of the electromechanical forces is performed using FEM software. Design experience in spherical actuators, unlike that of single DOF electromagnetic motors, has been limited and intricate due to the three dimensional nature of the output motion. This paper aims to present the design methodology and electromechanical analysis in a concise and orderly manner that may serve as a starting point for design optimization and research. |
Year | DOI | Venue |
|---|---|---|
2004 | 10.1109/RAMECH.2004.1438977 | RAM |
Keywords | Field | DocType |
machine control,torque,stator poles,coils,dc spherical manipulator,design optimization,design,output torque prediction,motion control,dc motors,fem software,electromechanical effects,numerical analysis,robotics,numerical electromagnetic analysis,stators,electromagnetic actuators,finite element analysis,high precision motion control,three dimensional motion,manipulators,air core electromagnetic coils,mechanical design,electromechanical forces,dc spherical actuator,permanent magnets,three dimensional,permanent magnet,design methodology,mechanism design,software design | Motion control,Torque,Control theory,Magnet,Control engineering,DC motor,Finite element method,Artificial intelligence,Engineering,Robotics,Actuator,Machine control | Conference |
Volume | ISBN | Citations |
1 | 0-7803-8645-0 | 1 |
PageRank | References | Authors |
0.49 | 6 | 5 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Chee Kian Lim | 1 | 32 | 7.83 |
| Liang Yan | 2 | 58 | 13.76 |
| I-Ming Chen | 3 | 567 | 87.28 |
| Guilin Yang | 4 | 169 | 42.24 |
| Wei Lin | 5 | 79 | 14.50 |