Development of a Novel Spherical Actuator With Two Degrees of Freedom

This paper describes the design and implementation of a novel spherical actuator that can generate two tilt-motion degrees of freedom. Voice coil motors were adopted as actuators in a spherical actuator to utilize their simple driving principle and constant torque coefficient characteristic. The sen...

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Bibliographic Details
Published in:IEEE/ASME transactions on mechatronics 2015-04, Vol.20 (2), p.532-540
Main Authors: Kim, Hyo Young, Kim, Hyunchang, Gweon, Dae-Gab, Jeong, Jaehwa
Format: Article
Language:English
Subjects:
Actuators
Coiling
Coils
Constants
Degrees of freedom
Magnetic resonance imaging
Mathematical analysis
Motors
Multiple degrees of freedom
Optimization
Permanent magnet motors
Rotors
spherical actuator
spherical motor
Stators
Torque
voice coil motor
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Summary:This paper describes the design and implementation of a novel spherical actuator that can generate two tilt-motion degrees of freedom. Voice coil motors were adopted as actuators in a spherical actuator to utilize their simple driving principle and constant torque coefficient characteristic. The sensing and guiding mechanism was built inside the proposed spherical actuator and enabled compactness and ease of connection to other application systems. The actuator was designed using a design optimization framework to obtain high torque. A prototype actuator was manufactured with optimally designed parameters, and its performance was evaluated.
ISSN:1083-4435
1941-014X
DOI:10.1109/TMECH.2014.2308417