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

  • Liang Yan
  • I-Ming Chen
  • Chee Kian Lim
  • Guilin Yang
  • Kok-Meng Lee

Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 4)

Table of contents

  1. Front Matter
    Pages I-XXI
  2. Liang Yan, I-Ming Chen, Chee Kian Lim, Guilin Yang, Kok-Meng Lee
    Pages 1-27
  3. Liang Yan, I-Ming Chen, Chee Kian Lim, Guilin Yang, Kok-Meng Lee
    Pages 29-46
  4. Liang Yan, I-Ming Chen, Chee Kian Lim, Guilin Yang, Kok-Meng Lee
    Pages 47-68
  5. Liang Yan, I-Ming Chen, Chee Kian Lim, Guilin Yang, Kok-Meng Lee
    Pages 69-97
  6. Liang Yan, I-Ming Chen, Chee Kian Lim, Guilin Yang, Kok-Meng Lee
    Pages 99-131
  7. Liang Yan, I-Ming Chen, Chee Kian Lim, Guilin Yang, Kok-Meng Lee
    Pages 133-151
  8. Liang Yan, I-Ming Chen, Chee Kian Lim, Guilin Yang, Kok-Meng Lee
    Pages 153-158
  9. Back Matter
    Pages 159-163

About this book

Introduction

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 robotics, automobile, manufacturing, medicine and aerospace industry.

This is the first monograph that introduces the research on spherical actuators systematically.  It broadens the scope of actuators from conventional single-axis to multi-axis, which will help both beginners and researchers to enhance their knowledge on electromagnetic actuators. Generic analytic modeling methods for magnetic field and torque output are developed, which can be applied to the development of other electromagnetic actuators. A parametric design methodology that allows fast analysis and design of spherical actuators for various applications is proposed. A novel non-contact high-precision 3-DOF spherical motion sensing methodology is developed and evaluated with experiments, which shows that it can achieve one order of magnitude higher precision than conventional methods. The technologies of nondimensionalization and normalization are introduced into magnetic field analysis the first time, and a benchmark database is established for the reference of other researches on spherical actuators.

Indexed in the Book Citation Index– Science (BKCI-S)

Keywords

DOF actuator automation design magnetic field modeling mechatronics robotics

Authors and affiliations

  • Liang Yan
    • 1
  • I-Ming Chen
    • 2
  • Chee Kian Lim
    • 3
  • Guilin Yang
    • 4
  • Kok-Meng Lee
    • 5
  1. 1.Sch. of Autom. Science & Electr. Engin.Beihang UniversityBeijingChina, People's Republic
  2. 2.Robotics Research Centre (N3-01a-01)Nanyang Technological UniversitySingaporeSingapore
  3. 3.Robotics Research Centre (N3-01a-01)Nanyang Technological UniversitySingaporeSingapore
  4. 4.Singapore Inst. of Manufact. TechnologyNanyangSingapore
  5. 5.Georgia Institute of TechnologyAtlantaUSA

Bibliographic information

  • DOI https://doi.org/10.1007/978-94-007-1646-9
  • Copyright Information Springer Science+Business Media B.V. 2011
  • Publisher Name Springer, Dordrecht
  • eBook Packages Engineering
  • Print ISBN 978-94-007-1645-2
  • Online ISBN 978-94-007-1646-9
  • Series Print ISSN 2211-0984
  • Series Online ISSN 2211-0992
  • About this book
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