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A Study of Advanced Spherical Motor for Improvement of Multi-DOF Motion
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 Title & Authors
A Study of Advanced Spherical Motor for Improvement of Multi-DOF Motion
Park, Hyun-Jong; Cho, Su-Yeon; Ahn, Han-Woong; Lee, Ho-Jun; Won, Sung-Hong; Lee, Ju;
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Since robot industry growing, the machine that could move with multi-DOF has been studied in many industrial fields. Spherical motor is one of the multi-DOF machine that doesn't need gear for multi-DOF motion. Unlike conventional motor, spherical motor can not only rotate on the shaft axis (rotating motion), but tilt the shaft with 2-DOF motion (positioning motion). In the typical type of spherical motor, one coil took part in positioning motion and rotating motion at the same time. As the result, the control algorithm was complex. To solve this problem, this study proposed a novel type of coil on the stator. The coils were separated for positioning motion and rotating motion. Thus the linkage flux of rotating coil didn't be affected the positioning angle. In this paper, comparing the back-EMF of typical and novel type was conducted and the driving experiment was carried out as the positioning angle. From the experiment result, the performance of proposed spherical motor could be verified.
Back-EMF;Coil design;Multi-DOF;Shaft tilting;Spherical motor;
 Cited by
Wang. J, Mitchell. K, Jewell. G.W and Howe. D, "Multi-degree-of-freedom spherical permanent magnet motors", in Proceedings of IEEE ICRA 2001, Seoul, Korea, May 2001

Yano. T, Kubota. Y, Shikayama. T, Suzuki. T, "Basic Characteristics of a Multi-pole Spherical Synchronous Motor", MHS 07, pp.383-388, 2007

John J. Craig, "Introduction to Robotics", Pearson Prentice Hall, 2005

Sung-Chul Go, Dong-Woo Kang, Jong-Bin Im, Ju Lee, Sung-Hong Won and Seung-Bin Lim, "Design Consideration of Back-EMF Constant for 3-D.O.F. Spherical PM Motor", Journal of Magnetics, vol.15, no.2, pp.78-84, 2010. crossref(new window)

Dong-Woo Kang, Won-Ho Kim, Sung-Chul Go, Chang-Sung Jin, Sung-Hong Won, Dae-Hyun Koo and Ju Lee, "Method of Current Compensation for Reducing Error of Holding Torque of Permanent- Magnet Spherical Wheel Motor", IEEE Trans. Magnetics, vol.45, no.6, pp.2819-2822, June 2009. crossref(new window)