A Spherical DC Servo Motor With Three Degrees of Freedom-Reference-Cited by-同舟云学术

A Spherical DC Servo Motor With Three Degrees of Freedom

Published:1989-09-01 Issue:3 Volume:111 Page:398-402
ISSN:0022-0434
Container-title:Journal of Dynamic Systems, Measurement, and Control
language:en
Short-container-title:

Author:

Kaneko K.¹,Yamada I.¹,Itao K.²

Affiliation:

1. Applied Electronics Laboratories, Nippon Telegraph and Telephone Corporation, Tokyo, 180, Japan

2. Storage Systems Laboratory and Applied Electronics Laboratories, Nippon Telegraph and Telephone Corporation, Tokyo, 180, Japan

Abstract

A spherical DC servo motor with three degrees of freedom is proposed. First, the process of generating three-dimensional torque is analyzed to obtain the torque constant matrix. The matrix elements are shown to vary with rotor inclination, and winding currents are shown to interfere with each other. Then, the dynamics of the spherical motor are investigated theoretically and experimentally, considering torque interference, gyro moment and gravity. Finally, the trajectory of the prototype motor is shown in order to clarify its abilities. This new spherical motor is expected to produce a smaller, a lighter mechanism, since no gears or linkages are needed.

Publisher

ASME International

Subject

Computer Science Applications,Mechanical Engineering,Instrumentation,Information Systems,Control and Systems Engineering

Link

http://asmedigitalcollection.asme.org/dynamicsystems/article-pdf/111/3/398/5778550/398_1.pdf

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