A novel 3-DOF sensing methodology for M-DOF PM motors

With the rapid advancement of modern high-technologies and demands for dexterous manipulators or drive elements, multi-degree-of-freedom (M-DOF) actuators have widely attracted the attentions of many researchers and been researched. This paper introduces the structure model and application of the method of Distributed Multi-Pole modeling for the rotor position detection, choosing the PM 3-DOF deflection type motor as an example. The model validation is presented based on the simulation modeling of permanent magnets. Simulation results verify the approximate solution and the analytical solution of this model by comparisons. A corresponding experiment platform based on visual interface and ARM single chip unit is built to measure the magnetic field of the permanent magnet of this multi-DOF motor. Simulation and experiment results show the feasibility of the method and experiment platform for further research by providing useful references.