IJAT Vol.10 No.4 pp. 591-598
doi: 10.20965/ijat.2016.p0591


3-DOF Outer Rotor Electromagnetic Spherical Actuator

Yusuke Nishiura, Katsuhiro Hirata, and Yo Sakaidani

Graduate School of Engineering, Osaka University
2-1 Yamadaoka, Suita, Osaka 565-0871, Japan

Corresponding author,

January 5, 2016
March 11, 2016
July 5, 2016
spherical actuator, 3-DOF, outer rotor, optimization, genetic algorithm
Conventionally, many single-degree-of-freedom (single-DOF) actuators have been used to realize devices with multiple-degrees-of-freedom (multi-DOF). However, this makes their structures larger, heavier, and more complicated. In order to remove these drawbacks, the development of spherical actuators with multi-DOF is necessary. In this paper, we propose a new 3-DOF outer rotor electromagnetic spherical actuator with high torque density and wide rotation angles. The dynamic characteristics are computed employing 3-D FEM and its effectiveness is verified by carrying out measurements on a prototype. Then, in order to realize further high torque density, the electromagnetic pole arrangement is optimized using Genetic Algorithm (GA) and the effectiveness of the optimized stator poles arrangement is verified.
Cite this article as:
Y. Nishiura, K. Hirata, and Y. Sakaidani, “3-DOF Outer Rotor Electromagnetic Spherical Actuator,” Int. J. Automation Technol., Vol.10 No.4, pp. 591-598, 2016.
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