Evaluation Method for Multi-Degree-of-Freedom Spherical Electromagnetic Synchronous Actuators under Constant Power

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  • Takahara Kazuaki
    Department of Adaptive Machine Systems, Graduate School of Engineering, Osaka University
  • Hirata Katsuhiro
    Department of Adaptive Machine Systems, Graduate School of Engineering, Osaka University
  • Niguchi Noboru
    Department of Adaptive Machine Systems, Graduate School of Engineering, Osaka University
  • Nishiura Yusuke
    Department of Adaptive Machine Systems, Graduate School of Engineering, Osaka University
  • Sakaidani Yo
    Department of Adaptive Machine Systems, Graduate School of Engineering, Osaka University
  • Fujiwara Masafumi
    Department of Adaptive Machine Systems, Graduate School of Engineering, Osaka University

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  • 多自由度球面同期アクチュエータの定電力下における静特性評価手法の提案
  • タジユウド キュウメン ドウキ アクチュエータ ノ テイデンリョク カ ニ オケル セイ トクセイ ヒョウカ シュホウ ノ テイアン

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Abstract

<p>Multi-degree-of-freedom (multi-DOF) actuators have been developed for the fields of robotics and industrial machinery. However, evaluation methods for the multi-DOF actuators have not been proposed. In order to evaluate the characteristics of the actuators, an evaluation method based on a torque equation and singular value decomposition is proposed. The evaluation method can be used to evaluate the torque characteristics using a torque area that is composed of an absolute torque and its direction. Finally, the static torque characteristics of some previously developed multi-DOF actuators are evaluated using the proposed evaluation method.</p>

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