@inproceedings{cd9a190ef49b4d27a4eb06e6e47436bb,
title = "Design and analysis of a permanent magnet spherical actuator",
abstract = "This paper has proposed a design concept of a spherical actuator including a ball-shaped rotor with a full circle of permanent-magnet (PM) poles and a spherical-shell-like stator with two layers of circumferential air-core coils. One key feature of this design is parametrization of the PM pole, which benefits the design optimization of the spherical actuator greatly. According to the magnetic field model, the variation of flux density with respect to PM-pole parameters can be revealed. Therefore, these parameters can be appropriately chosen to achieve a high magnetic flux density. Another advantage of this design is the singularity-free, which is verified within the workspace with torque model and condition numbers.",
keywords = "Design optimization, Magnetic field model, Spherical actuator",
author = "Liang Yan and Chen, \{I. Ming\} and Lim, \{Chee Kian\} and Guilin Yang and Wei Lin and Lee, \{Kok Meng\}",
year = "2005",
doi = "10.1109/IROS.2005.1545369",
language = "英语",
isbn = "0780389123",
series = "2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS",
pages = "2607--2612",
booktitle = "2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS",
note = "IEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005 ; Conference date: 02-08-2005 Through 06-08-2005",
}