Basic Consideration of Actuators with Multi DOF Having an Identical Center of Rotation

Abstract

Actuators with three DOF used for manipulators have been developed. First, the principle of conventional motors is extended to construct motors with three degreeof-freedom. Next, prototype induction and synchronous type motors with three DOF have been developed and examined. Experimental results show that the induction motor has a large slide and that the rotary speed varies with the direction of the axis of the rotary magnetic field, while the synchronous motor rotates the same rotary speed as the rotary magnetic field. With each type, the rotor can move in any direction by following the rotary magnetic field.