Improvement of Analysis Accuracy in Torque Calculation of Multi-Degree-of-Freedom Spherical Actuators
Multi-degree-of-freedom (multi-DOF) spherical actuators have been developed for the fields of robotics and industrial machinery. We have proposed an outer rotor type three-DOF spherical actuator that can realize a high torque density. Its input current of each coil is calculated using the torque gen...
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| Veröffentlicht in: | Journal of the Japan Society of Applied Electromagnetics and Mechanics 2021, Vol.29(2), pp.414-420 |
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| container_title | Journal of the Japan Society of Applied Electromagnetics and Mechanics |
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| creator | FUSAYASU, Hirotsugu HIRATA, Katsuhiro NIGUCHI, Noboru TAKAHARA, Kazuaki |
| description | Multi-degree-of-freedom (multi-DOF) spherical actuators have been developed for the fields of robotics and industrial machinery. We have proposed an outer rotor type three-DOF spherical actuator that can realize a high torque density. Its input current of each coil is calculated using the torque generation equation based on the torque constant matrix. Although a control method to calculate the current value has already been proposed, the analysis accuracy of the torque model is not sufficiently examined for a precision robot that requires the positioning accuracy of about 0.1 mm. In this paper, for the purpose of applying our three-DOF spherical actuator to such a precision robot, we investigated the factors that affect the analysis accuracy of a dynamic analysis method and improved the analysis accuracy. |
| doi_str_mv | 10.14243/jsaem.29.414 |
| format | Article |
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| ispartof | Journal of the Japan Society of Applied Electromagnetics and Mechanics, 2021, Vol.29(2), pp.414-420 |
| issn | 0919-4452 2187-9257 |
| language | eng |
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| source | J-STAGE Free |
| subjects | finite element method industrial robots multi-degree-of-freedom spherical actuator torque constant map |
| title | Improvement of Analysis Accuracy in Torque Calculation of Multi-Degree-of-Freedom Spherical Actuators |
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