Evaluation Method for Multi-Degree-of-Freedom Spherical Electromagnetic Synchronous Actuators under Constant Power

Abstract

Multi-degree-of-freedom (multi-DOF) actuators have been developed for the fields of robotics and industrial machinery. However, evaluation methods for the multi-DOF actuators have not been proposed. In order to evaluate the characteristics of the actuators, an evaluation method based on a torque equation and singular value decomposition is proposed. The evaluation method can be used to evaluate the torque characteristics using a torque area that is composed of an absolute torque and its direction. Finally, the static torque characteristics of some previously developed multi-DOF actuators are evaluated using the proposed evaluation method.