Design and control of the 3 degrees of freedom actuator by controlling the electromagnetic force

被引：0
|
作者：
Yang, CI [1 ]
Baek, YS [1 ]
机构：
[1] Yonsei Univ, Seodaemoon Ku, Seoul 120749, South Korea
来源：
IEEE TRANSACTIONS ON MAGNETICS | 1999年 / 35卷 / 05期
关键词：
3 DOF actuator; electromagnetic force; spherical DC servo motor; spherical motor;
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
The novel spherical actuator with 3 D.O.F. and its control method are proposed. The proposed 3 D.O.F. spherical actuator is composed of the rotor and the stator which have the multi-poles made with the permanent magnets and the electromagnets, respectively. The rotor can make an arbitrary orientation and a spin by interactions among multi-poles of the rotor and the stator. Also the governing equation for torque generation is derived to control the suggested model. This model is controlled with the suggested governing equation and PID control law. The various experimental results are presented to show the validity of the proposed spherical actuator.
引用
收藏
页码：3607 / 3609
页数：3
相关论文
共 50 条
  • [21] KINEMATIC ANALYSIS OF A 3-DEGREES-OF-FREEDOM SPHERICAL WRIST ACTUATOR
    LEE, KM
    PEI, JF
    ROTH, R
    MECHATRONICS, 1994, 4 (06) : 581 - 605
  • [22] Application of electromagnetic actuator using rubber film to three-degrees-of-freedom precision stage
    Nomura, K
    Noritsugu, T
    Arai, J
    PROCEEDINGS OF THE 2003 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM 2003), VOLS 1 AND 2, 2003, : 101 - 106
  • [23] Design and Position Control of a Robot with 5 Degrees of Freedom
    Peralta-Caprachin, Henry
    Angeles-Orahulio, Raul
    Paiva-Peredo, Ernesto
    INTERNATIONAL JOURNAL OF MECHANICAL ENGINEERING AND ROBOTICS RESEARCH, 2024, 13 (02): : 241 - 248
  • [24] The Controlling of Robot with Three Degrees of Freedom
    Chupin, I. A.
    Dolgii, Yu F.
    Sesekin, A. N.
    VII INTERNATIONAL YOUNG RESEARCHERS' CONFERENCE - PHYSICS, TECHNOLOGY, INNOVATIONS (PTI-2020), 2020, 2313
  • [25] DETECTING AND CONTROLLING FORCES IN ATOMIC-FORCE MICROSCOPY WITH MULTI-DEGREES-OF-FREEDOM
    KAWAKATSU, H
    SAITO, T
    KOUGAMI, H
    BLANALT, P
    KAWAI, M
    WATANABE, M
    JOURNAL OF VACUUM SCIENCE & TECHNOLOGY B, 1994, 12 (03): : 1686 - 1697
  • [26] Internal degrees of freedom of an actuator disk model
    Chernyshenko, SI
    Privalov, AV
    JOURNAL OF PROPULSION AND POWER, 2004, 20 (01) : 155 - 163
  • [27] Design and control of an electromagnetic actuator without mechanical springs
    Rajanathan, CB
    Shi, ZW
    Sapeluk, AT
    Taylor, NG
    1997 IEEE INTERNATIONAL ELECTRIC MACHINES AND DRIVES CONFERENCE RECORD, 1997, : TB241 - TB243
  • [28] Multiobjective analysis for the design and control of an electromagnetic valve actuator
    Stewart, P.
    Gladwin, D.
    Fleming, P. J.
    PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING, 2007, 221 (D5) : 567 - 577
  • [29] Design and control of an electromagnetic actuator without mechanical springs
    Rajanathan, CB
    Shi, ZW
    Sapeluk, AT
    Taylor, NG
    IEEE TRANSACTIONS ON ENERGY CONVERSION, 1999, 14 (03) : 643 - 648
  • [30] Active vibration control using an electromagnetic absorber with two degrees of freedom
    Adkins, CA
    Huang, ZM
    Wong, BW
    Walcott, BL
    Rouch, KE
    PROCEEDINGS OF THE IEEE SOUTHEASTCON '96: BRINGING TOGETHER EDUCATION, SCIENCE AND TECHNOLOGY, 1996, : 175 - 178
12345