2014 Volume 134 Issue 4 Pages 384-391
Conventional multi-degree-of-freedom drive systems need many single-degree-of-freedom actuators, but this makes the structure larger and heavier. The development of a spherical actuator should reduce the number of actuators, but the low torque and narrow rotation range are still problems. We developed a 2-degree-of-freedom spherical actuator with an outer rotor that can produce a higher torque and wider rotation angle. In this paper, we propose a control method; we confirmed its usefulness by performing dynamic analysis using the three-dimensional finite element method and by taking measurements with a prototype.
The transactions of the Institute of Electrical Engineers of Japan.C
The transactions of the Institute of Electrical Engineers of Japan.B
The transactions of the Institute of Electrical Engineers of Japan.A
The Journal of the Institute of Electrical Engineers of Japan