2021 年 29 巻 3 号 p. 538-543
Multi-degree-of-freedom (DOF) oscillatory mechanisms are used in various applications such as active vibration isolation tables, vibration test systems, and haptic display devices. These conventional systems are required some actuators and links to drive in multi-axes. Therefore, the size and weight increase, and the oscillation center is shifted because some actuators are arranged in three-dimensional space. Then, we have been proposed the six-DOF oscillatory actuator with axial gap structure. However, it has interference between each axes. In order to solve this problem, we propose a novel six-DOF oscillatory actuator using Lorentz force. This paper describes the magnetic structure and operating principle of the six-DOF oscillatory actuator. The thrust and torque generating principle is shown. The basic characteristics are investigated by a magnetic field analysis using a three-dimensional finite element method. From the analysis results of the thrust and torque characteristics, it is clarified that the proposed six-DOF oscillatory actuator can drive 6-DOF without interference.
