Design, Modeling and Experiments of 3-DOF Electromagnetic Spherical Actuators

• Κύριοι συγγραφείς: Yan, Liang (Συγγραφέας), Chen, I-Ming (Συγγραφέας), Lim, Chee Kian (Συγγραφέας), Yang, Guilin (Συγγραφέας), Lee, Kok-Meng (Συγγραφέας)
• Συγγραφή απο Οργανισμό/Αρχή: SpringerLink (Online service)
• Μορφή: Ηλεκτρονική πηγή Ηλ. βιβλίο
• Γλώσσα: English
• Έκδοση: Dordrecht : Springer Netherlands, 2011.
• Σειρά: Mechanisms and Machine Science, 4
• Θέματα: Engineering.; Mechanical engineering.; Control engineering.; Robotics.; Mechatronics.; Electrical engineering.; Control, Robotics, Mechatronics.; Electrical Engineering.; Mechanical Engineering.

A spherical actuator is a novel electric device that can achieve 2/3-DOF rotational motions in a single joint with electric power input. It has advantages such as compact structure, low mass/moment of inertia, fast response and non-singularities within the workspace. It has promising applications in...

Πίνακας περιεχομένων:

• List of Figures
• List of Tables
• 1 Introduction
• 1.1 Background and Motivation
• 1.2 The State of the
• 1.3 Objective and Scope of the Study
• 1.4 Book Organization
• References
• 2 Magnetic Field Modeling
• 2.1 Introduction
• 2.2 Configuration of Rotor Poles
• 2.3 Magnetic Scalar Potential
• 2.3.1 Relations Between H and B for Three Regions
• 2.3.2 Laplace’s Equations for Three Regions
• 2.3.3 General Solution of Laplace’s Equation
• 2.4 Spherical Harmonic Expansion of M0r
• 2.5 Boundary Conditions
• 2.5.1 Boundary Condition A or Far Field Boundary Condition (BIrjr!¥ = 0, BIq jr!¥ = 0 and BIf jr!¥ = 0)
• 2.5.2 Boundary Condition B (BIrjr=Rr = BIIrjr=Rr )
• 2.5.3 Boundary Condition C (HIf jr=Rr = HIIf jr=Rr and  HIq jr=Rr = HIIq jr=Rr )
• 2.5.4 Finite Boundary Condition D at r = 0 (BIIIrjr=0 6= ¥, BIIIq jr=0 6= ¥ and BIIIf jr=0 6= ¥)
• 2.5.5 Boundary Condition E (BIIrjr=Rb = BIIIrjr=Rb )
• 2.5.6 Boundary Condition F (HIIf jr=Rb = HIIIf jr=Rb and HIIq jr=Rb = HIIIq jr=Rb )
• 2.5.7 Solution of Coefficients x mnI and kmnI
• 2.6 Solutions of Scalar Potential and Flux Density
• 2.7 Simplification of Magnetic Field Model
• 2.8 Summary
• References
• 3 Torque Modeling
• 3.1 Introduction
• 3.2 Formulation of Actuator Torque
• 3.2.1 Torque Generating Component of Flux Density
• 3.2.2 Torque Model for a Single Coil
• 3.2.3 Torque Model for Complete Set of Coils
• 3.2.4 Orientation Dependance of Torque Model
• 3.3 Solution of Inverse Electromagnetics
• 3.3.1 Nonsingularity of the Workspace
• 3.3.2 Minimum Right-inverse Solution of Electromagnetics
• 3.4 Summary
• References
• 4 Prototype Development
• 4.1 Introduction
• 4.1.1 Prototype of PM Spherical Actuator
• 4.1.2 Equations for Actuator Design
• 4.2 Rotor Pole Design
• 4.2.1 Longitudinal Angle a versus a
• 4.2.2 Latitudinal Angle b versus c
• 4.2.3 Rotor Radius Rr versus d4
• 4.2.4 Rotor Core Radius Rb versus d4
• 4.2.5 Relative Permeability mr versus d4
• 4.2.6 Result of PM Pole Design
• 4.3 Coil Pole Design
• 4.3.1 Geometric Parameters of Coil
• 4.3.2 Increase Number of Winding Turns
• 4.3.3 Material of Coil Frame
• 4.4 Stator
• 4.5 Spherical Bearing
• 4.6 Summary
• References
• 5 Experimental Investigation
• 5.1 Measurement of PM Rotor Magnetic Field
• 5.1.1 Flux Density Measurement Apparatus
• 5.1.2 Flux Density Data Processing
• 5.1.3 Visualization and Analysis of Experimental Result
• 5.2 Measurement of Actuator Torque Output
• 5.2.1 Experiment on Torque Generated by a Single Coil
• 5.2.2 Experiment on Torque Generated by Multiple Coils
• 5.3 Summary
• References
• 6 Three Degree-of-freedom Optical Orientation Measurement
• 6.1 Introduction
• 6.2 Operating Principle
• 6.3 Algorithm for Computing Rotation Angles
• 6.3.1 Definition of Coordinate Systems
• 6.3.2 Calculation of Tilting Angles
• 6.3.3 Calculation of Spinning Angle
• 6.4 Experimental Measurement
• 6.4.1 Experimental Measurement on Apparatus 1
• 6.4.2 Experimental Measurement on Apparatus 2
• 6.5 Conclusion
• References
• 7 Conclusions
• 7.1 Accomplishments and Contributions
• 7.2 Recommendation for Future Research
• References
• Index.