2015 Volume 23 Issue 2 Pages 332-337
The development of multiple degree-of-freedom actuators is expected in robotics and industrial machinery fields. There remain, however, some problems in terms of the torque density, control method, and sensing systems. Under the circumstances, we are studying on a 3-degree-of-freedom outer rotor spherical actuator and its control method. We have also confirmed the characteristics employing 3D-FEM. In this paper, genetic algorithm is employed to search for the optimal stator pole arrangement which has the maximum torque constant (Instead, minimum mean current with a constant torque). Then, the effectiveness of the optimization is verified through the comparison of the mean current controlled to generate a constant torque between the optimized and the initial models.
