title: Characteristics verification of an independently controllable electromagnetic spherical motor.
abstract: We have been developing electromagnetic spherical actuators capable of three-degree-of-freedom rotation. However, these actuators require complex control to realize simultaneous triaxial drive, because rotation around one axis interferes with rotation around another. In this paper, we propose a new three-degree-of-freedom actuator where 3-axes rotation can be controlled easily. The basic structure and the operating principle of the actuator are described. Then the torque characteristics and the dynamic characteristics are computed by employing 3D-FEM and the effectiveness of this actuator is clarified. Finally, the experimental results using the prototype of the actuator are shown to verify the dynamic performance.
authors.affiliation: Department of Adaptive Machine Systems, Graduate School of Engineering, Osaka University, 2-1 Yamadaoka Suita, Osaka 565-0871, Japan. shuhei.maeda@ams.eng.osaka-u.ac.jp.
authors.forename: Shuhei
authors.initials: S
authors.lastname: Maeda
authors.affiliation: Department of Adaptive Machine Systems, Graduate School of Engineering, Osaka University, 2-1 Yamadaoka Suita, Osaka 565-0871, Japan. k-hirata@ams.eng.osaka-u.ac.jp.
authors.forename: Katsuhiro
authors.initials: K
authors.lastname: Hirata
authors.affiliation: Department of Adaptive Machine Systems, Graduate School of Engineering, Osaka University, 2-1 Yamadaoka Suita, Osaka 565-0871, Japan. noboru.niguchi@ams.eng.osaka-u.ac.jp.
authors.forename: Noboru
authors.initials: N
authors.lastname: Niguchi