Design and analysis of a permanent magnet spherical actuator

Design and analysis of a permanent magnet spherical actuator

This paper has proposed a design concept of a spherical actuator including a ball-shaped rotor with a full circle of permanent-magnet (PM) poles and a spherical-shell like stator with two layers of circumferential air-core coils. One key feature of this design is parameterization of the PM pole, whi...

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Hauptverfasser: Liang Yan, I-Ming Chen, Chee Kian Lim, Guilin Yang, Wei Lin, Kok-Meng Lee
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Actuators
Coils
Design optimization
Electromagnetic forces
Magnetic analysis
Magnetic field model
Magnetic fields
Magnetic flux
Permanent magnets
Spherical actuator
Stators
Torque
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creator Liang Yan
I-Ming Chen
Chee Kian Lim
Guilin Yang
Wei Lin
Kok-Meng Lee
description This paper has proposed a design concept of a spherical actuator including a ball-shaped rotor with a full circle of permanent-magnet (PM) poles and a spherical-shell like stator with two layers of circumferential air-core coils. One key feature of this design is parameterization of the PM pole, which benefits the design optimization of the spherical actuator greatly. According to the magnetic field model, the variation of flux density with respect to PM-pole parameters can be revealed. Therefore, these parameters can be appropriately chosen to achieve a high magnetic flux density. Another advantage of this design is the singularity-free, which is verified within the workspace with torque model and condition numbers.
doi_str_mv 10.1109/IROS.2005.1545369
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subjects Actuators
Coils
Design optimization
Electromagnetic forces
Magnetic analysis
Magnetic field model
Magnetic fields
Magnetic flux
Permanent magnets
Spherical actuator
Stators
Torque
title Design and analysis of a permanent magnet spherical actuator
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