Proposal and Control of a 2-DOF Spherical Actuator with Reduced Current Phase

Takashi TAHARA; Katuhiro HIRATA; Noboru NIGUCHI; Yo SAKAIDANI; Yusuke NSHIURA; Tomoya AMAZUTSUMI; Kazuaki TAKAHARA

doi:10.14243/jsaem.26.41

Journal of the Japan Society of Applied Electromagnetics and Mechanics

Online ISSN : 2187-9257
Print ISSN : 0919-4452
ISSN-L : 0919-4452

Academic Papers

Proposal and Control of a 2-DOF Spherical Actuator with Reduced Current Phase

Takashi TAHARA, Katuhiro HIRATA, Noboru NIGUCHI, Yo SAKAIDANI, Yusuke NSHIURA, Tomoya AMAZUTSUMI, Kazuaki TAKAHARA

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Keywords: 2-DOF, spherical actuator, outer rotor, control method

JOURNAL FREE ACCESS

2018 Volume 26 Issue 1 Pages 41-46

DOI https://doi.org/10.14243/jsaem.26.41

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Abstract

　The development of spherical actuators for robots and electric devices are expected in manipulations of machines that have multi degrees of freedom. We have developed a 2-degree-of-freedom outer rotor spherical actuator. In this paper, we propose a new control method to reduce current phases.

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