Conventional multi‐degree‐of‐freedom drive systems need many single‐degree‐of‐freedom actuators, but this makes the structure larger and heavier. The development of a spherical actuator should reduce the number of actuators, but the low torque and narrow rotation range are still problems. We developed a 2‐degree‐of‐freedom spherical actuator with an outer rotor that can produce a higher torque and wider rotation angle. In this paper, we propose a control method; we confirmed its usefulness by performing dynamic analysis using the three‐dimensional finite element method and by taking measurements with a prototype.
Development of Control Method for Outer‐Rotor Spherical Actuator
Electrical engineering in Japan ; 194 , 2
2016
Article (Journal)
English
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DSpace@MIT | 1994
|Online Contents | 2010
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