Design of A Plane Multi-DOF Actuator

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A 3-DOF actuator which has new principle and very simple structure is proposed. Its principle seems to be similar to conventional electromagnetic actuators, that is, to utilize the relation of control and bias fluxes produced by coils and permanent magnets, respectively, but the coils and permanent magnets of the proposed actuator are fixed in the stator. Such a structure helps to optimally design the actuator for its use. Some experimental and FEM analysis results show the feasibility of the proposed actuator and some characteristics of system that are useful lot structure design and control.