Integrated design and modelling of an electro-magnets driven spherical parallel manipulator

This paper presents a novel design of an integrated electro-magnets driven spherical parallel manipulator which produces 3-degree-of-freedom (3-DOF) rotational motion within the workspace. The spherical parallel manipulator is actuated by the interaction between stator coils and the rotor magnetic field. The kinematic and dynamic models are developed. The torque model is formulated analytically based on the magnetic field distribution of the permanent magnet slide unit. Finally, the magnetic field distribution and the torque model are both validated using the finite element analysis.

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