Abstract
In recent years, the research and development for actuator with the multi DOF actively have been proposed for the application such as a joint of a humanoid robot or an industrial robot. As one type of actuator with the multi DOF, a spherical motor that can move by single actuator at least in three directions such as articulations of human and has excellent characteristic on high precise positioning has been come up to actualization. However, existing spherical motor has problems like that the insufficiency of the output torque and the difficulties of motion control on the output axis by the structural conditions. To overcome these problems, we have been developed a novel stepping motor based on a pair of a regular hexahedron and a pair of a regular octahedron (6-8 spherical stepping motor). In this paper, we describe the torque and velocity characteristic and rotational behavior characteristics around 3 axes on the 6-8 spherical stepping motor.
