Torque modeling and analysis of spherical actuators with iron stator

Liang Yan; I. Ming Chen; Chee Kian Lim; Guilin Yang; Wei Lin; Kok Meng Lee

doi:10.1109/ROBOT.2009.5152200

Torque modeling and analysis of spherical actuators with iron stator

Liang Yan^*
, I. Ming Chen
, Chee Kian Lim
, Guilin Yang
, Wei Lin
, Kok Meng Lee

^*Corresponding author for this work

Nanyang Technological University
Agency for Science, Technology and Research, Singapore
Georgia Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Scopus citations

Abstract

This paper presents a ball-joint-like three-degreeof freedom (3-DOF) permanent magnet (PM) spherical actuator which features a ball-shaped rotor with multiple PM poles and a spherical iron stator with air-core coils. Torque output of this PM spherical actuator is formulated analytically. Based on the torque model, simulation result of the actuator torque variation is presented. In addition, the effect of the stator iron on thetorque output is evaluated.

Original language	English
Title of host publication	2009 IEEE International Conference on Robotics and Automation, ICRA '09
Pages	164-169
Number of pages	6
DOIs	https://doi.org/10.1109/ROBOT.2009.5152200
State	Published - 2009
Externally published	Yes
Event	2009 IEEE International Conference on Robotics and Automation, ICRA '09 - Kobe, Japan Duration: 12 May 2009 → 17 May 2009

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Conference

Conference	2009 IEEE International Conference on Robotics and Automation, ICRA '09
Country/Territory	Japan
City	Kobe
Period	12/05/09 → 17/05/09

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10.1109/ROBOT.2009.5152200

Cite this

@inproceedings{21729bbd4c424afcbd7aa4ffd8754577,

title = "Torque modeling and analysis of spherical actuators with iron stator",

abstract = "This paper presents a ball-joint-like three-degreeof freedom (3-DOF) permanent magnet (PM) spherical actuator which features a ball-shaped rotor with multiple PM poles and a spherical iron stator with air-core coils. Torque output of this PM spherical actuator is formulated analytically. Based on the torque model, simulation result of the actuator torque variation is presented. In addition, the effect of the stator iron on thetorque output is evaluated.",

author = "Liang Yan and Chen, \{I. Ming\} and Lim, \{Chee Kian\} and Guilin Yang and Wei Lin and Lee, \{Kok Meng\}",

year = "2009",

doi = "10.1109/ROBOT.2009.5152200",

language = "英语",

isbn = "9781424427895",

series = "Proceedings - IEEE International Conference on Robotics and Automation",

pages = "164--169",

booktitle = "2009 IEEE International Conference on Robotics and Automation, ICRA '09",

note = "2009 IEEE International Conference on Robotics and Automation, ICRA '09 ; Conference date: 12-05-2009 Through 17-05-2009",

}

Yan, L, Chen, IM, Lim, CK, Yang, G, Lin, W & Lee, KM 2009, Torque modeling and analysis of spherical actuators with iron stator. in 2009 IEEE International Conference on Robotics and Automation, ICRA '09., 5152200, Proceedings - IEEE International Conference on Robotics and Automation, pp. 164-169, 2009 IEEE International Conference on Robotics and Automation, ICRA '09, Kobe, Japan, 12/05/09. https://doi.org/10.1109/ROBOT.2009.5152200

Torque modeling and analysis of spherical actuators with iron stator. / Yan, Liang; Chen, I. Ming; Lim, Chee Kian et al.
2009 IEEE International Conference on Robotics and Automation, ICRA '09. 2009. p. 164-169 5152200 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Torque modeling and analysis of spherical actuators with iron stator

AU - Yan, Liang

AU - Chen, I. Ming

AU - Lim, Chee Kian

AU - Yang, Guilin

AU - Lin, Wei

AU - Lee, Kok Meng

PY - 2009

Y1 - 2009

N2 - This paper presents a ball-joint-like three-degreeof freedom (3-DOF) permanent magnet (PM) spherical actuator which features a ball-shaped rotor with multiple PM poles and a spherical iron stator with air-core coils. Torque output of this PM spherical actuator is formulated analytically. Based on the torque model, simulation result of the actuator torque variation is presented. In addition, the effect of the stator iron on thetorque output is evaluated.

AB - This paper presents a ball-joint-like three-degreeof freedom (3-DOF) permanent magnet (PM) spherical actuator which features a ball-shaped rotor with multiple PM poles and a spherical iron stator with air-core coils. Torque output of this PM spherical actuator is formulated analytically. Based on the torque model, simulation result of the actuator torque variation is presented. In addition, the effect of the stator iron on thetorque output is evaluated.

UR - https://www.scopus.com/pages/publications/70350366622

U2 - 10.1109/ROBOT.2009.5152200

DO - 10.1109/ROBOT.2009.5152200

M3 - 会议稿件

AN - SCOPUS:70350366622

SN - 9781424427895

T3 - Proceedings - IEEE International Conference on Robotics and Automation

SP - 164

EP - 169

BT - 2009 IEEE International Conference on Robotics and Automation, ICRA '09

T2 - 2009 IEEE International Conference on Robotics and Automation, ICRA '09

Y2 - 12 May 2009 through 17 May 2009

ER -

Torque modeling and analysis of spherical actuators with iron stator

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