Evaluation Method for Multi-Degree-of-Freedom Spherical Electromagnetic Synchronous Actuators under Allowable Current

Abstract

Multi-degree-of-freedom (multi-DOF) actuators have been developed for the fields of robotics and industrial machinery. We have proposed an evaluation method for the multi-DOF actuators based on a torque equation and singular value decomposition under constant power. However, the evaluation method does not take into account a current density. In this paper, we propose a new evaluation method considering an allowable current. Finally, the static torque characteristics of a previously developed multi-DOF actuator is evaluated using the proposed evaluation method.