Development of a Novel Spherical Actuator With Two Degrees of Freedom

Kim H.Y.; Kim H.; Gweon D.-G.; Jeong J.

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Development of a Novel Spherical Actuator With Two Degrees of Freedom

机译：具有两个自由度的新型球形执行器的研制

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摘要

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.

机译：本文介绍了可以产生两个倾斜运动自由度的新型球形执行器的设计和实现。音圈电动机被用作球形致动器中的致动器，以利用其简单的驱动原理和恒定的扭矩系数特性。传感和导向机构内置在建议的球形执行器内部，具有紧凑性，并易于与其他应用系统连接。使用设计优化框架设计执行器以获得高扭矩。制造了具有最佳设计参数的原型执行器，并对其性能进行了评估。

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来源
《Mechatronics, IEEE/ASME Transactions on》 |2015年第2期|532-540|共9页
作者
Kim H.Y.; Kim H.; Gweon D.-G.; Jeong J.;
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作者单位

Department of Mechanical Engineering , Korea Advanced Institute of Science and Technology, Daejeon, Korea;

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原文格式 PDF
正文语种 eng
中图分类
关键词
Actuators; Coils; Magnetic resonance imaging; Permanent magnet motors; Rotors; Stators; Torque; Multiple degrees of freedom; spherical actuator; spherical motor; voice coil motor;

机译：执行器;线圈;磁共振成像;永磁电动机;转子;定子;转矩;多个自由度;球形致动器;球形电动机;语音线圈电动机;

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1. Development of a Spherical In-Parallel Actuated Mechanism with Three Degrees of Freedom with Large Working Space and High Motion Transmissibility (Evaluation of Motion Transmissibility and Analysis of Working Space) [J] . Yukio TAKEDA, Hiroaki FUNABASHI, Yasutaka SASAKI JSME International Journal. Series C, Mechanical Systems, Machine Elements and Manufacturing . 1996,第3期

机译：具有较大工作空间和较高运动传递性的三自由度球面并联致动机构的开发（运动传递性评估和工作空间分析）
2. Development of a Spherical In-Parallel Actuated Mechanism with Three Degrees of Freedom with Large Working Space and High Motion Transmissibility (Evaluation of Motion Transmissibility and Analysis of Working Space) [J] . Yukio TAKEDA, Hiroaki FUNABASHI, Yasutaka SASAKI JSME International Journal. Series C, Mechanical Systems, Machine Elements and Manufacturing . 1996,第3期

机译：具有较大工作空间和较高运动传递性的三自由度球面并联致动机构的开发（运动传递性评估和工作空间分析）
3. Singularity Free Revolute-Prismatic-Revolute and Spherical-Prismatic-Spherical Chains for Actuating Planar and Spherical Single Degree of Freedom Mechanisms [J] . David A. Perkins, Andrew P. Murray Journal of Mechanisms and Robotics: Transactions of the ASME . 2012,第1期

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4. Analysis of a Novel Spherical Permanent Magnet Actuator with Three Degrees-of-Freedom [C] . Wang, J., Wang, . 1998

机译：具有三自由度的新型球形永磁执行器的分析
5. Development of an actuation system for a specialized fixture: Providing two degrees of freedom for single point incremental forming. [D] . Fatima, Mariam. 2013

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6. Development of a Novel Three Degrees-of-Freedom Rotary Vibration-Assisted Micropolishing System Based on Piezoelectric Actuation [O] . Yan Gu, Xiuyuan Chen, Faxiang Lu, 2019

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7. Development of a Spherical In-Parallel Actuated Mechanism with Three Degrees of Freedom with Large Working Space and High Motion Transmissibility : Evaluation of Motion Transmissibility and Analysis of Working Space [O] . Yukio Takeda, Hiroaki Funabashi, Yasutaka Sasaki 1996

机译：具有三度自由度的球形具有大型工作空间和高运动传递性的球形致动机构：运动传递率评估和工作空间分析
8. Virtual reality flight control display with six-degree-of-freedom controller and spherical orientation overlay [R] . 1995

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Development of a Novel Spherical Actuator With Two Degrees of Freedom

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