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

Abstract

　The development of spherical actuators for robots and electric devices are expected in the manipulation of machines that have multi degrees of freedom. We have developed a 2-degree-of-freedom outer rotor spherical actuator for writs of robots. In this paper, we propose a new control method to reduce the number of current phases and verify the control method through dynamic analysis and measurements on a prototype.