Top > IJAT > 3-DOF Outer Rotor Electromagnetic Spherical Actuator

single-au.php

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

Paper:

Views over last 60 days: 1,069

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,

Received:
January 5, 2016
Accepted:
March 11, 2016
Published:
July 5, 2016
Creative Commons License
Keywords:
spherical actuator, 3-DOF, outer rotor, optimization, genetic algorithm
Abstract
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.
Data files:
References
  1. [1] Y. Takeda, “Kinematic Structure and Characteristics of Parallel Manipulators,” Jounal of the Robotics society of Japan, Vol.30, No.20, pp. 124-129, 2012.
  2. [2] H. Asada, T Kaneda, and R. Reddy, “Design Concept of Direct-Drive Manipulators Using Rare-Earth DC Torque Motors,” Proc. of 11th ISIR, pp. 629-636, 1981.
  3. [3] N. Fukaya, K. Sawada, H. Oku, H. Wada, and S. Toyama, “Development of An Artificial Arm by Using a Spherical Ultrasonic Motor,” Jounal of the Japan Society for Precision Engineering, Vol.67, No.4, pp. 654-659, 2001.
  4. [4] R. Sakamoto, T, Ueno, Y. Ikehata, and S. Yamada, “Study on 3-DOF drive for Micro Spherical Motor using Magnetostrictive Material,” Annual Meeting of the Institute of Electrical Engineers of Japan Vol.2, pp. 148-149, 2011.
  5. [5] J. Wang, G. W. Jewell, and D. Howe, “A Novel Spherical Actuator: Design and Control,” IEEE Trans. on Magnetics, Vol.33, No.5, pp. 4209-4211, 1997.
  6. [6] J. Wang, K. Mitchell, G. W. Jewell, and D. Howe, “Multi-Degree-of-Freedom Spherical Permanent Magnet Motors,” Proc.s of the 2001 IEEE Int. Conf. on Robotics and Automation, pp. 1798-1805, 2001.
  7. [7] W. Wang, J. Wang, G. W. Jewell, and D. Howe, “Design and Control of a Novel Spherical Permanent Magnetic Actuator With Three Degrees of Freedom,” IEEE/ASME Trans. on Magnetics, Vol.8, No.4, pp. 457-468, 2003.
  8. [8] E. H. M. Weck, T. Reinartz, G. Henneberger, and R. W. De Doncker, “Design of a Spherical Motor with Three Degrees of Freedom,” CIRP Annals, Vol.49, No.1, pp. 289-294, 2000.
  9. [9] K. Kahlen, I. Voss, C. Priebe, and R. W. De Doncker, “Torque Control of a Spherical Machine With Variable Pole Pitch,” IEEE Trans. on Power Electronics, Vol.19, No.6, pp. 1628-1634, 2004.
  10. [10] L. Yang, I-Meng Chen, C. K. Lim, G. Yang, W. Lin, and Kok-Meng Lee, “Torque Modeling of a Spherical Actuator Based on Lorentz Force Low,” Procs of the 2005 IEEE Int. Conf. on Robotics and Automation, pp. 3646-3651, 2005.
  11. [11] H. Son and Kok-Meng Lee, “Open-Loop Controller Design and Dynamic Characteristics of a Spherical Wheel Motor,” IEEE Trans. on Industrial Electronics, Vol.57, No.10, pp. 3475-3482, 2010.
  12. [12] W. Chen, L. Zhang, L. Yan, and J. Liu, “Design and control of a three degree-of-freedom permanent magnet spherical actuator,” Sensors and Actuators A: Physical, pp. 75-86, 2012.
  13. [13] C. Xia, H. Li, and T. Shi, “3-D Magnetic Field and Torque Analysis of a Novel Halbach Array Permanent-Magnet Spherical Motor,” IEEE Trans. on Magnetics, Vol.44, No.8, pp. 2016-2020, 2008.
  14. [14] B. van Ninhuijs, J. W. Jansen, B. L. J. Gysen, and E. A. Lomonova, “Topology Comparison of Slotless Permanent Magnet Semispherical Actuators,” IEEE Trans. on Magnetics, Vol.50, No.11, 2014.
  15. [15] B. van Ninhuijs, J. W. Jansen, B. L. J. Gysen, and E. A. Lomonova, “Comparison of Harmonic and Magnetic Charge Model for Spherical Magnetic Structures with a Neumann Boundary,” IEEE Trans. on Magnetics, Vol.51, No.11, 2015.
  16. [16] T. Yamamoto, K. Hirata, and Y. Hasegawa, “Proposal of Multi-degree Electromagnetic Actuators,” 16th MAGDA Conf., PS-1, P07, pp. 229-231, 2007.
  17. [17] S. Ikejiri and K. Hirata, “Torque Characteristic Evaluation on Spherical Electromagnetic Actuator with 3 Degree-of-Freedom,” The paper of Technical Meeting on Linear Drives, IEE Japan, LD-08-54, pp. 19-24, 2008.
  18. [18] Y. Sakaidani, K. Hirata, N. Niguchi, and S. Maeda, “Experimental vertification of feedback control of a 2-DOF spherical actuator,” IEEE Trans. on Magnetics, Vol.50, No.11, 2014.
  19. [19] M. Kumagai and R. L. Hollis, “Development and Control of a Three DOF Spherical Induction Motor,” Proc.s of the 2013 IEEE Int. Conf. on Robotics and Automation, pp. 1520-1525, 2013.
  20. [20] A. Bhatia, M. Kumagai, and R. Hollis, “Six-Stator spherical induction motor for balancing mobile robots,” Proc. of the 2015 IEEE Int. Conf. on Robotics and Automation, pp. 226-231, 2015.
  21. [21] A. Gofuku, R. Sasaki, T. Yano, Y. Wada, and M. Shibata, “Development of a spherical stepping motor rotating around six axes,” Int. Jounal of Applied Electromagnetics and Mechanics, Vol.39, pp. 905-911, 2012.
  22. [22] J. P. Cohoon and W. Paris, “Genetic placement,” IEEE Trans. on Computer-aided design of integrated circuits and systems, Vol.6, pp. 956-964, 1987.

Creative Commons License  This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

*This site is desgined based on HTML5 and CSS3 for modern browsers, e.g. Chrome, Firefox, Safari, Edge, Opera.

Last updated on Jan. 08, 2025