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JRM Vol.7 No.6 pp. 458-466
doi: 10.20965/jrm.1995.p0458
(1995)

Paper:

Basic Consideration of Actuators with Multi DOF Having an Identical Center of Rotation

Tomoaki Yano* and Makoto Kaneko**

*Mechanical Engineering Laboratory, Ministry of International Trade and Industry, 1-2 Namiki, Tsukuba, Ibaraki, 305 Japan

**Industrial and System Engineering, Hiroshima University, Higashi-Hiroshima, Hiroshima, 724 Japan

Received:
September 22, 1995
Accepted:
October 12, 1995
Published:
December 20, 1995
Keywords:
Manipulator, Actuator, Multi degree-of-freedom, Spherical motor
Abstract

Actuators with three DOF used for manipulators have been developed. First, the principle of conventional motors is extended to construct motors with three degreeof-freedom. Next, prototype induction and synchronous type motors with three DOF have been developed and examined. Experimental results show that the induction motor has a large slide and that the rotary speed varies with the direction of the axis of the rotary magnetic field, while the synchronous motor rotates the same rotary speed as the rotary magnetic field. With each type, the rotor can move in any direction by following the rotary magnetic field.

Cite this article as:
Tomoaki Yano and Makoto Kaneko, “Basic Consideration of Actuators with Multi DOF Having an Identical Center of Rotation,” J. Robot. Mechatron., Vol.7, No.6, pp. 458-466, 1995.
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