A Spherical DC Servo Motor With Three Degrees of Freedom

A spherical DC servo motor with three degrees of freedom is proposed. First, the process of generating three-dimensional torque is analyzed to obtain the torque constant matrix. The matrix elements are shown to vary with rotor inclination, and winding currents are shown to interfere with each other....

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Bibliographic Details
Published in:Journal of dynamic systems, measurement, and control measurement, and control, 1989-09, Vol.111 (3), p.398-402
Main Authors: Kaneko, K., Yamada, I., Itao, K.
Format: Article
Language:English
Subjects:
Applied sciences
Drives
Exact sciences and technology
Linkage mechanisms, cams
Mechanical engineering. Machine design
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Summary:A spherical DC servo motor with three degrees of freedom is proposed. First, the process of generating three-dimensional torque is analyzed to obtain the torque constant matrix. The matrix elements are shown to vary with rotor inclination, and winding currents are shown to interfere with each other. Then, the dynamics of the spherical motor are investigated theoretically and experimentally, considering torque interference, gyro moment and gravity. Finally, the trajectory of the prototype motor is shown in order to clarify its abilities. This new spherical motor is expected to produce a smaller, a lighter mechanism, since no gears or linkages are needed.
ISSN:0022-0434
1528-9028
DOI:10.1115/1.3153067