Development of a spherical motor driven by electro-magnets
- 292 Downloads
This paper presents a spherical motor driven by electro-magnets that can rotate omnidirectionally with some degrees of rotation angle error independent of rotation direction. The spherical motor is composed of a spherical rotor, a semi-spherical stator, a control PC, a control circuit, and a DC power supply. The rotor has 92 neodymium magnets. On the other hand, 84 electro-magnets are arranged on the stator. Each electro-magnet can be excited to north or south magnetic pole. The control PC calculates the posture of the rotor after a small time interval and generates the pattern of excitation of electro-magnets in order to rotate the rotor to its calculated posture. The results of the performance of the developed spherical motor show that the maximum torque is 0.24 (N·m), the maximum rotation speed is 2.5 (rad/s), and the average error of rotation angle is several degrees.
KeywordsSpherical motor Omnidirection Electro-magnet Computer simulation
Unable to display preview. Download preview PDF.
- H. Kanazawa, T. Tsukimoto, T. Maeno and A. Miyake, Tribology of ultrasonic motor, Journal of Japanese Society of Tribologists (in Japanese), 38(3) (1993) 207–212.Google Scholar
- T. Yano and T. Suzuki, Basic characteristics of the small spherical stepping motor, Proc. of 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’02), (2002) 1980–1985.Google Scholar
- A. Tanaka, M. Watada, S. Torii and D. Ebihara, Proposal and design of multi-degree of freedom actuator, Proc. of 11th MAGDA Conference (in Japanese), (2002) 169–172.Google Scholar
- A. Gofuku, T. Nagai, S. Ikeshita, M. Shibata and T. Kamegawa, Development of a spherical motor to rotate in all directions, Trans. Japan Society of Mechanical Engineers (in Japanese), 74(747-C) (2009) 2713–2720.Google Scholar