Design, Modeling and Experiments of 3-DOF Electromagnetic Spherical Actuators
A spherical actuator is a novel electric device that can achieve 2/3-DOF rotational motions in a single joint with electric power input. It has advantages such as compact structure, low mass/moment of inertia, fast response and non-singularities within the workspace. It has promising applications in...
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| Hoofdauteurs: | , , , , |
|---|---|
| Formaat: | Livre numérique |
| Taal: | Anglais |
| Gepubliceerd in: |
Dordrecht :
Springer Netherlands
[20..].
Cham : Springer Nature |
| Editie: | 1st ed. 2011. |
| Reeks: | Mechanisms and Machine Science
4 |
| Online toegang: | Accès sur la plateforme de l'éditeur Accès sur la plateforme Istex Accès Université d'Orléans Accès INSA CVL |
| Opmerking: |
Archives Springer e-books (Licence nationale) Archives Springer e-books (Licence nationale) |
| Autres localisations: | Voir dans le Sudoc |
| Edition sous un autre format: | • Design, Modeling and Experiments of 3-DOF Electromagnetic Spherical Actuators, Texte imprimé, 9789400716452 • Design, Modeling and Experiments of 3-DOF Electromagnetic Spherical Actuators, Texte imprimé, 9789400716452 • Design, Modeling and Experiments of 3-DOF Electromagnetic Spherical Actuators, Texte imprimé, 9789400716476 • Design, Modeling and Experiments of 3-DOF Electromagnetic Spherical Actuators, Texte imprimé, 9789401777988 |
Inhoudsopgave:
- List of Figures List of Tables 1 Introduction 1.1 Background and Motivation 1.2 The State of the 1.3 Objective and Scope of the Study 1.4 Book Organization References 2 Magnetic Field Modeling 2.1 Introduction 2.2 Configuration of Rotor Poles 2.3 Magnetic Scalar Potential 2.3.1 Relations Between H and B for Three Regions 2.3.2 Laplace s Equations for Three Regions 2.3.3 General Solution of Laplace s Equation 2.4 Spherical Harmonic Expansion of M0r 2.5 Boundary Conditions 2.5.1 Boundary Condition A or Far Field Boundary Condition (BIrjr! = 0, BIq jr! = 0 and BIf jr! = 0) 2.5.2 Boundary Condition B (BIrjr=Rr = BIIrjr=Rr ) 2.5.3 Boundary Condition C (HIf jr=Rr = HIIf jr=Rr and HIq jr=Rr = HIIq jr=Rr ) 2.5.4 Finite Boundary Condition D at r = 0 (BIIIrjr=0 6= , BIIIq jr=0 6= and BIIIf jr=0 6= ) 2.5.5 Boundary Condition E (BIIrjr=Rb = BIIIrjr=Rb ) 2.5.6 Boundary Condition F (HIIf jr=Rb = HIIIf jr=Rb and HIIq jr=Rb = HIIIq jr=Rb ) 2.5.7 Solution of Coefficients x mnI and kmnI 2.6 Solutions of Scalar Potential and Flux Density 2.7 Simplification of Magnetic Field Model 2.8 Summary References 3 Torque Modeling 3.1 Introduction 3.2 Formulation of Actuator Torque 3.2.1 Torque Generating Component of Flux Density 3.2.2 Torque Model for a Single Coil 3.2.3 Torque Model for Complete Set of Coils 3.2.4 Orientation Dependance of Torque Model 3.3 Solution of Inverse Electromagnetics 3.3.1 Nonsingularity of the Workspace 3.3.2 Minimum Right-inverse Solution of Electromagnetics 3.4 Summary References 4 Prototype Development 4.1 Introduction 4.1.1 Prototype of PM Spherical Actuator 4.1.2 Equations for Actuator Design 4.2 Rotor Pole Design 4.2.1 Longitudinal Angle a versus a 4.2.2 Latitudinal Angle b versus c 4.2.3 Rotor Radius Rr versus d4 4.2.4 Rotor Core Radius Rb versus d4 4.2.5 Relative Permeability mr versus d4 4.2.6 Result of PM Pole Design