Proposal of 5-phase 3-degree-of-freedom spherical actuator with auxiliary poles

Issue title: Selected papers from the International Symposium on Electromagnetic Fields in Mechatronics, Electrical and Electronic Engineering – ISEF 2019

Guest editors: Paolo Di Barba, Maria Evelina Mognaschi and Sławomir Wiak

Article type: Research Article

Authors: Takahara, Kazuaki^a; | Hirata, Katsuhiro^a | Niguchi, Noboru^a | Amazutsumi, Tomoya^a

Affiliations: [a] Department of Adaptive Machine Systems, Graduate School of Engineering, Osaka University, Suita, Osaka, Japan

Correspondence: [*] Corresponding author: Kazuaki Takahara, Department of Adaptive Machine Systems, Graduate School of Engineering, Osaka University, Suita, Osaka, Japan. E-mail: [email protected]

Abstract: Multi-Degree-of-Freedom (multi-DOF) actuating systems are usually composed of several single-DOF motors, which results in large, heavy and complicated structures. In order to solve these problems, various multi-DOF spherical actuators have been actively studied. However, a large number of current phases are required in the spherical actuator. In this paper, in order to reduce the number of current phases, a 3-DOF spherical actuator with auxiliary poles which is driven using 5-phase currents is proposed. Finally, the torque characteristics of the proposed actuator are evaluated through 3-D finite element analysis.

Keywords: Multi-degree-of-freedom, spherical actuator, auxiliary pole

DOI: 10.3233/JAE-209514

Journal: International Journal of Applied Electromagnetics and Mechanics, vol. 64, no. S1, pp. S179-S189, 2020