Design and Modeling of a Spherical Actuator with Three Dimensional Orientation Measurement System

Abstract:

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.

• Periodical: Advanced Materials Research (Volumes 317-319)
• Pages: 1088-1097
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.317-319.1088
• Online since: August 2011
• Authors: Wei Hai Chen, Liang Zhang, Fang Hong Guo, Jing Meng Liu
• Keywords: Actuator Design, Actuator Modeling, Spherical Actuator, Three Dimensional Orientation Measurement

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