A novel spherical permanent magnet actuator with three degrees-of-freedom
- Univ. of Sheffield (United Kingdom). Dept. of Electronic and Electrical Engineering
There is a growing need for programmable servo-controlled high-speed actuation in multiple axes, for applications as diverse as robotic manipulators, infrared and laser tracking systems, and automated manufacturing. This paper describes a new version of spherical actuator, which is capable of three degrees-of-freedom and a high specific torque. The three-dimensional magnetic field distribution is established using an analytical technique formulated in spherical co-ordinates, and enables the torque vector and back-emf to be derived in closed forms. This facilitates the characterization of the actuator, and provides the foundation for design optimization, actuator dynamic modeling and servo control development.
- Sponsoring Organization:
- USDOE
- OSTI ID:
- 649535
- Report Number(s):
- CONF-980102-; ISSN 0018-9464; TRN: IM9825%%148
- Journal Information:
- IEEE Transactions on Magnetics, Vol. 34, Issue 4Pt1; Conference: 7. joint MMM-intermag conference, San Francisco, CA (United States), 6-9 Jan 1998; Other Information: PBD: Jul 1998
- Country of Publication:
- United States
- Language:
- English
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