Abstract
The research presented here is to establish a basis for the design and control of a variable-reluctance (VR) spherical motor which presents some attractive possibilities by combining pitch, roll, and yaw motion in a single joint. For clarity, this paper has been organized in two parts: The first part describes the characterization of reluctance force for design. The second part addresses the dynamic modelling and control of the spherical motor. The reluctance force which is the driver of a VR spherical motor is characterized by using both the finite-element method and the lamped-parameter approach. The objective of this paper is to provide a good understanding of the magnetic fields and forces at play for realizing effective design and control of a VR spherical motor. The permeance-based model, which is commonly used in the stepper motor community to model the reluctance force of a step motor, was developed to model the torque of a VR spherical motor. Since the success of the permeance-based model depends on the assumed shape of the magnetic flux tubes, finite element methods were used in this study to provide physical insights of the magnetic flux patterns and to examine the reluctance force completed using the assumed flux shape. Two models were computed using the finite-element methods for illustration of the operational principle of a VR spherical motor.
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© 1992 Springer Science+Business Media Dordrecht
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Lee, KM. (1992). Design, Modelling, and Control Strategies of a Three Degrees-of-Freedom VR Spherical Motor Part I: Reluctance Force Characterization. In: Tzou, H.S., Fukuda, T. (eds) Precision Sensors, Actuators and Systems. Solid Mechanics and Its Applications, vol 17. Springer, Dordrecht. https://doi.org/10.1007/978-94-011-1818-7_3
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DOI: https://doi.org/10.1007/978-94-011-1818-7_3
Publisher Name: Springer, Dordrecht
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