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Development of a spherical stepping motor rotating around six axes

Issue title: Selected Papers from the 15th International Symposium on Applied Electromagnetics and Mechanics (ISEM 2011)

Article type: Research Article

Authors: Gofuku, Akioa; * | Sasaki, Ryoa | Yano, Tomoakib | Wada, Yosukea | Shibata, Mitsunobuc

Affiliations: [a] Graduate School of Natural Science and Technology, Okayama University, Okayama, Japan | [b] National Institute of Advanced Industrial Science and Technology, Japan | [c] Faculty of Engineering, Okayama University, Okayama, Japan

Correspondence: [*] Corresponding author: Akio Gofuku, Graduate School of Natural Science and Technology, Okayama University, Japan 3-1-1, Tsushima-Naka, Kita-ku, Okayama, 700-8530, Japan. Tel.: +81 86 251 8022; E-mail: [email protected]

Keywords: Spherical motor, stepping motor, five-phase alternative current

DOI: 10.3233/JAE-2012-1558

Journal: International Journal of Applied Electromagnetics and Mechanics, vol. 39, no. 1-4, pp. 905-911, 2012

Published: 5 September 2012
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Abstract

Spherical motors have an advantageous feature that they can rotate around multiple axes. From the advantage, spherical motors are expected to be applied to driving mechanisms of holonomic mobile robots, joints of robots, and so on. This study develops a spherical motor called 14–12 spherical stepping motor that can rotate around 6 axes. This paper describes the structure of the motor, rotation principle by five-phase ACs (Alternative Currents), a five-phase AC power supply, and rotation experiments to confirm the applicability of the motor.

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