Torque Modeling of spherical actuators with double-layer poles

被引：15
|
作者：
Yan, Liang [1 ]
Chen, I-Ming [1 ]
Lim, Chee Kian [1 ]
Yang, Guilin [2 ]
Lin, Wei [2 ]
Lee, Kok-Meng [3 ]
机构：
[1] Nanyang Technol Univ, Sch Mech & Aerosp Engn, Singapore 639798, Singapore
[2] Singapore Inst Mfg Technol, Mechatron Grp, Singapore 638075, Singapore
[3] Georgia Inst Technol, George W Woodruff Sch Mech Engn, Atlanta, GA 30332 USA
来源：
2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12 | 2006年
关键词：
D O I：
10.1109/IROS.2006.282175
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents a design concept of spherical actuators including a ball-shaped rotor with two layers of permanent-magnet (PM) poles and a spherical-shell-like stator with two layers of circumferential air-core coils. Corresponding to the poles configuration, the torque model of the spherical actuator has been derived. The magnetic field as well as torque output have been compared with that of spherical actuator with single-layer PM-pole configuration. This generic torque modeling method can be extended for spherical actuators with multi-layer PM&coil poles which can achieve high motion resolution as well as large working range.
引用
收藏
页码：5447 / +
页数：2
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