论文信息 - A Novel Spherical Actuator Design And Control

A Novel Spherical Actuator Design And Control

The paper describes the design and control of a novel spherical permanent magnet actuator which is capable of two-degrees-freedom and a high specific torque. Based on an analytical actuator model, an optimal design procedure is developed to yield maximum output torque or maximum system acceleration for a given payload. The control of the actuator, whose dynamics are similar to those of robotic manipulators, is facilitated by the establishment of a complete actuation system model. A robust control law is applied, and its effectiveness is demonstrated by computer simulation.

G.W. Jewell | D. Howe | J. Wang

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