Design and Modeling of a Spherical Actuator with Three Dimensional Orientation Measurement System
This paper presents the design and modeling of a permanent magnet spherical actuator which consists of a rotor with eight cylindrical permanent magnet (PM) poles and a stator with twenty-four air-core coils. Torque and dynamic model of this PM spherical actuator are formulated analytically. An optimal design procedure is proposed to achieve a high torque output, and significant design parameters of the actuator are discussed. As there is no effective method for three dimensional orientation measurement of the spherical actuator currently, a novel orientation measurement system is proposed. Finally, experimental works are carried out, and the experiment results demonstrate the effectiveness of the proposed orientation measurement system.
W. H. Chen et al., "Design and Modeling of a Spherical Actuator with Three Dimensional Orientation Measurement System", Advanced Materials Research, Vols. 317-319, pp. 1088-1097, 2011