Analysis Torque Characteristics and Improved Efficiency of Permanent Magnet Multi-D.O.F. Spherical Motor

Abstract - A surfaced permanent magnet spherical motor is capable of operating as three degree of freedom that used for the joints of the robot's arm, leg, and eyes. Ongoing research like new concept is essential part of motor field, it will make a great contribution in the future the overall portion of the motor, is becoming expected. The author analysis torque characteristics in spherical motor with state of rotating and positioning. And future design direction is smaller motors with equivalent or higher output. Solutions as torque and efficiency improvements are selecting the core with special processing type like powder metallurgy materials. Their special characteristic is high permeability and low eddy current losses at high speed, so improved the torque and efficiency.Key Words : Multi-D.O.F., Spherical motor, Soft magnetic composite, Torque characteristic, Permanent magnet motor*정 회 원 : 한양대 공대 전기공학과 박사과정** 정 회 원 : 동국대 공대 전자전기공학부 교수***정 회 원 : 한양대 공대 전기공학과 석박사 통합과정§ 정 회 원 : (주)삼성전자 선임연구원§§ 정 회 원 : 동양미래대 공대 전기시스템과 전임강사† 교신저자, 시니어회원 : 한양대 전기공학과 교수E-mail : julee@hanyang.ac.kr접수일자 : 2011년 9월 18일 최종완료 : 2011년 12월 9일