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Design and Control of 3 D.O.F. Spherical Actuator Using the Magnetic Force of the Electromagnets

전자석의 자기력 제어를 이용한 구형 3 자유도 액추에이터의 설계 및 제어

Baek, Yun-Su;Yang, Chang-Il;Park, Jun-Hyeok
백윤수;양창일;박준혁

  • Published : 2001.09.01

Abstract

In this paper, 3 D.O.F. actuator, which has three degrees of freedom in one joint, is proposed. The proposed 3 D.O.F. spherical actuator is composed of the rotor and atator. The upper plate of the stator supports the rotor and five electromagnets are located at the base of the stator. The rotor has two permanent magnets, and each rotational axis of the rotor gimbal system is supported by the bearing. To find out the governing equations for the torque generation, Coulombs law and Lorentz force with respect to magnetism is applied. As the experimental results, if the distance between electromagnet and permanent maget is far enough, the force between these magnets can be expressed from current of coils and z-axial distance. For the purpose of control 3 D.O.F. actuator, PID control law is applied. The experimental results are presented to show the validity of the proposed 3 D.O.F. actuator.

Keywords

3 D.O.F. Actuator;Spherical Motor;3 D.O.F. Motor;Electromagnetic Force;Electromagnet;Iron-Core Solenoid;Permanent Magnet;PID Control;Coulombs Law;Lorentz Force

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