抄録
Recently, multi-degree-of-freedom spherical actuators are expected to be applied to reduce the size and weight of multi-degree-of-freedom drive systems used in production sites. However, 3-DOF spherical actuators require complicated control because each rotary axis interferes with each other when driving multiple axes simultaneously. Therefore, we proposed a spherical actuator that can control the three axes independently. In this paper, to improve the torque and operating characteristics of the proposed model, the magnetic structure was studied using electromagnetic field analysis by 3D-FEM. The proposed model was studied while separating the driving part in the rotation direction from the driving part in the tilt direction, and achieved a reduction in torque ripple and higher torque during the rotation drive as well as higher torque during the tilt drive.
