Study on Multi-DOF Actuator for Improving Power Density

This study focuses on improving the power density of a spherical multi-degree-of-freedom (multi-DOF) actuator. A spherical multi-DOF actuator that can operate in three DOFs is designed. The actuator features a double air gap to reduce eddy current loss. However, a multi-DOF actuator driven by a single actuator exhibits low power density. Therefore, a Halbach magnet array is applied to improve the power density of a spherical multi-DOF actuator, and its output characteristics are compared with those of an existing spherical multi-DOF actuator via finite element analysis. Additionally, the output characteristics are analyzed based on changes in the coil pitch angle and magneto-motive force of the rotating winding. Furthermore, it is necessary for a spherical multi-DOF actuator to move to the command position. Hence, a stability analysis is performed to ensure that the spherical multi-DOF actuator is stably driven based on the command position.