DOI QR코드

DOI QR Code

Design and Analysis of Double Excited 3-Degree-of-Freedom Motor for Robots

  • Kwon, Byung-Il ;
  • Kim, Young-Boong
  • Received : 2010.03.24
  • Accepted : 2011.04.07
  • Published : 2011.09.01

Abstract

This paper presents a double excited three degree-of-freedom (3DOF) motor. The proposed 3DOF motor is designed with a laminated structure, making it easy to manufacture. In addition, it has windings on the stator and rotor, and does not require an expensive permanent magnet. We explain the structure, principle of motion, and design of the proposed motor, and perform an analysis of the static characteristics using the two- and three-dimensional finite element methods (3D FEM). The feasibility of 3D FEM analysis is confirmed by comparing the 3D FEM analysis and experimental results for the rolling and pitching motion. We also confirm the occurrence of holding torque in every motion.

Keywords

3DOF;Laminated structure;Double excited;3D FEM

References

  1. K. M. Lee, G. Vachtsevanos, C. K. Kwan, "Development of a Spherical Stepper Wrist Motor", Robotics and Automation, Proceedings, 1988 IEEE International Conference on 24-29, vol.1, pp 267-272, April 1988
  2. J. Wang, K. Mitchell, G. W. Jewell, D. Howe, "Multi- Degree-of-Freedom Spherical Permanent Magnet Motors", Robotics and Automation, 2001 Proceedings 2001 Icra. IEEE intenational Conference on Volume 2, 1798-1805, 2001
  3. Y. Kaneko, I. Yamada, and K. Itao, "A spherical DC Servo Motor with 3DOF", Trans. ASME Dynam. Syst. Meas. Contr., vol. 111, no. 3, pp. 398-402, Sep. 1989 https://doi.org/10.1115/1.3153067
  4. K. Davey, G. Vachtsevanos, and R. Powers, "An Analysis of Fields and Torques in Spherical Induction motors", IEEE Transactions on Magnetics, vol. 23, no. 1, pp 273-282, Jan 1987 https://doi.org/10.1109/TMAG.1987.1064749
  5. K. M. Lee and C. K. Kwan, "Design Concept Development of a Spherical Stepper for Robotic Applications", IEEE Transactions on Robotics and Automation., vol. 7, no. 1, pp. 175-181, Feb. 1991 https://doi.org/10.1109/70.68082
  6. K. Daveyr, G. Vachtsevanos, and R. Powers, "The Analysis of Fields and Torques in Spherical Induction Motors", IEEE Transactions on Magnetics, vol. 23, no. 1, pp. 273-282, Jan. 1987. https://doi.org/10.1109/TMAG.1987.1064749
  7. Foggia. A, Olivier. E, Chappuis. F, Sabonnadiere. J.C "A New Three-Degrees-of-Freedom Electromagnetic Actuator", in IEEE Industry Application Society Annual Meeting, pp. 137-141, 1998
  8. B. Dehez, G. Galary, D. Grenier, and B. Raucent, "Development of a Spherical Induction Motor With Two Degrees of Freedom", IEEE Tran Magn., vol. 42, no 8, pp. 2077-2089, August 2006. https://doi.org/10.1109/TMAG.2006.876473
  9. Dong- Chul. Lee, B. I. Kwon, "A Novel Structured 3- DOF Spherical Motor" ICEMS2006, Nagasaki, Japan, 20 - 23, November 2006
  10. Jae-sung Lee, Dae-kyoung Kim, Soo-whang Baek, Se-hyun Rhyu, Byung-il Kwon, "Newly Structured Double Excited Two-Degree-of-Freedom Motor for Security Camera", IEEE Transaction on Magnetics, Vol. 44, pp. 4041-4044, Nov. 2008 https://doi.org/10.1109/TMAG.2008.2002802
  11. J. B. Wang, W. Y. Wang, and W. Geraint, "A Novel Spherical Permanent Actuator with Three Degreesof- Freedom", IEEE Transactions on Magnetic, vol. 34, no. 4, pp. 2078-2080, Jul. 1998. https://doi.org/10.1109/20.706803
  12. Gregory S. Chirikjian, and David Stein, "Kinematic Design and Commutation of a Spherical Stepper Motor", IEEE/ASME Transaction on Mechatronics, vol. 4, no 4, pp. 342-353, December 1999 https://doi.org/10.1109/3516.809513
  13. W. Wang, J. Wang, G. W. Jewell, and D. Howe, "Design and Control of a Novel Spherical Permanent Magnet Actuator with Three Degrees of Freedom", IEEE/ASME Transaction on Mechatronics, vol 8, no 4, December 2003
  14. Liang Yan, I. Ming Chen, et al., "Design and analysis of a permanent magnet spherical actuator", IEEE/ASME Transaction on Mechatronics, vol. 13, no. 2, pp. 239-248, April 2008 https://doi.org/10.1109/TMECH.2008.918573
  15. Changliang Xia, Hongfeng Li, and Tingna Shi, "3-D Magnetic Field and Torque Analysis of a novel Halbach Array Permanent-Magnet Spherical Motor" IEEE Transactions on magnetic, vol. 44, no. 8, pp. 2016-2020, August 2008 https://doi.org/10.1109/TMAG.2008.922782
  16. Changliang Xia, Peng Song, Hongfeng Li, Bin Li, and Tingna Shi, "Research on Torque Calculation Method of Permanent-Magnet Spherical Motor Based on the Finite-Element Method", IEEE Transactions on Magnetics, vol. 45, no. 4, pp. 2015-2022, April 2009 https://doi.org/10.1109/TMAG.2009.2012390

Cited by

  1. Torque modeling and characteristic analysis of electromagnetic piezoelectric hybrid-driven 3-degree-of-freedom motor vol.10, pp.10, 2018, https://doi.org/10.1177/1687814018804743

Acknowledgement

Supported by : National Research Foundation of Korea