Advertisement

Prototype Development

  • Liang YanEmail author
  • 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)

Abstract

Prototype development is an essential step to ensure the functionalities of the proposed 3-DOF PM spherical actuator. The research prototype can be used for conducting experimental works on magnetic field distribution as well as actuator torque output to verify the derived analytical models. This chapter discusses the prototype development of the PM spherical actuator with detail considerations in the design of the rotor poles and stator poles.

Keywords

Torque Output Aluminum Wire Frictional Torque Packing Pattern Prototype Development 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. 1.
    Mathematical group (1984) Mathematical Handbook. High Educational Press, China, 1984. Google Scholar
  2. 2.
    Miner G F (1996) Lines and Electromagnetic Fields for Engineers. Oxford University Press, USA, 1996. Google Scholar
  3. 3.
    Integrated Publishing (2005) Properties of copper and aluminum. In: The website on properties of copper and aluminum. Available online: http://www.tpub.com/content/neets/14176/css/14176_25.htm. Cited May 2005
  4. 4.
    Wang J, Jewell G W, Howe D et al (1997) Modelling of a novel spherical permanent magnet actuator. Proceedings of 1997 IEEE International Conference on Robotics and Automation, Hague, Netherlands, vol. 145, no. 1:1190–1195, Albuquerque, New Mexico, USA, April 1997. Google Scholar
  5. 5.
    Wang J, Wang W, Jewell G W, Howe D et al (1998) A novel spherical actuator with three degrees-of-freedom. IEEE Transactions on Magnetics, vol. 34, no. 4:2078–2080, July 1998. CrossRefGoogle Scholar
  6. 6.
    Chirikjian G S, Stein D et al (1999) Kinematic design and commutation of a spherical stepper motor. IEEE/ASME Transactions on Mechatronics, vol. 4, no. 4:342–353, December 1999. CrossRefGoogle Scholar
  7. 7.
    Lee K M, Sosseh R A et al (2002) Effects of fixture dynamics on back-stepping control of a VR spherical motor. Proceedings of the 7th International Conference on Robotics, Automation and Computer Vision, vol. 145, no. 1:1–6, Singapore, 2–5 December 2002. Google Scholar
  8. 8.
    Zhou Z (1995) Real-Time Control and Characterization of a Variable Reluctance Spherical Motor. Thesis of Georgia Institute of Technology, GA, USA, May 1995. Google Scholar
  9. 9.
    Lee K M, Ezenekwe D E, He T et al (2003) Design and control of a spherical air-bearing system for multi-d.o.f ball-joint-like actuators. Mechatronics, vol. 13:175–194, 2003. CrossRefGoogle Scholar
  10. 10.
    Ezenekwe D E (1998) Design Methodology of an Air Bearing System for Multi-DOF Spherical Actuator Motion Control Applications. Thesis of Georgia Institute of Technology, GA, USA, December 1998. Google Scholar
  11. 11.
    Yuhuan Appear Ball Transfer Units Factory of Zhejiang (2005) Specification of transfer bearings. In: The website of Ball Transfer Units. Available online: http://www.balltransfergroup.com. Cited May 2005
  12. 12.
    Hephaist Seiko Co., Ltd. (2005) Specification of spherical bearings. In: The website of Hephaist Seiko Co., Ltd. Available online: http://www.hephaist.co.jp/e/pro/ball.html. Cited May 2005

Copyright information

© Springer Science+Business Media B.V. 2011

Authors and Affiliations

  • Liang Yan
    • 1
    Email author
  • I-Ming Chen
    • 2
  • Chee Kian Lim
    • 3
  • Guilin Yang
    • 4
  • Kok-Meng Lee
    • 5
  1. 1.School of Automation Science and Electrical EngineeringBeihang UniversityBeijingPeople’s Republic of China
  2. 2.School of Mechanical and Aerospace EngineeringNanyang Technological UniversitySingaporeSingapore
  3. 3.School of Mechanical & Aeronautical EngineeringSingapore PolytechnicSingaporeSingapore
  4. 4.Singapore Institute of Manufacturing TechnologyNanyangSingapore
  5. 5.Georgia Institute of TechnologyAtlantaUSA

Personalised recommendations