Design concept development of a spherical stepper for robotic applications

Abstract

exposes nonideal behavior such as finite op-amp slew and current end effector is oriented quickly, continuously, and isotropically in drive, putting limitations on the rates at which an array can be all directions. The performance of the popular three-consecutive-roaddressed by a real interface. In time these further issues will be tational-joints wrist, which possesses singularities within its analyzed, and the tradeoffs arising there will be better understood. workspace [l], 121, is less than optimum.

Design, modeling and first experimentation of a two-degree-of-freedom spherical actuator

“…Within this actuating family, we opted for the induction principle rather than synchronous and variable-reluctance ones [10,11]. The main justification of this choice is simplicity.…”

Hybrid torque modeling of spherical actuators with cylindrical-shaped magnet poles

“…Torque model of this induction motor was derived by integrating the Maxwell stress moment over the spherical rotor surface [7]. A spherical stepper [8,9] and a spherical wheel motor [10][11][12] have been developed by Lee et al based on the principle of variable reluctance (VR). The torque output of these motors was formulated by using co-energy method, which shows that the actuator torque depends on the current inputs and the magnetic reluctance at air gaps [13].…”

Design and Control of a Three-Coil Permanent Magnet Spherical Motor

“…A different motor category, that of spherical motors [1][2][3][4], include machines that produce motion along the surfaces of hemispheres. This category has been drawn much attention in the last decades due to the potential of applications [5][6][7][8]. However, the first studies on the spherical movement of the axis of an electric motor date back to the 1950s with the works of Williams et al [9][10][11] and Haeussermann et al [12,13].…”