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Design concept development of a spherical stepper for robotic applications

机译:机器人应用球形步进器的设计概念开发

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The design concept of a spherical stepper motor capable of three-degrees-of-freedom (DOF) motion in a single joint is presented. The ball-joint-like motor has no singularities except at the boundary of the workspace and can perform isotropic manipulation in all three directions. Due to its relatively simple ball-like structure, undesired cross-coupling and centrifugal components of wrist rotor dynamics can be effectively minimized or eliminated. The spherical stepper motor has potential in robotic applications as a three-DOF shoulder or an eyeball, as well as a wrist actuator. In particular, the systematic conceptualization of a spherical stepper is presented, and the feasibility of constructing the spherical stepper is examined. Along with the experimental data, an analytical approach based on the permeance formula was used to predict the driving forces generated by a neodymium-iron permanent magnet. The force-displacement curves provide useful information for rational spherical motor design and control.
机译:提出了一种在单个关节中能够实现三自由度(DOF)运动的球形步进电机的设计概念。球形接头电动机只有在工作空间的边界处才具有奇异性,并且可以在所有三个方向上进行各向同性操纵。由于其相对简单的球形结构,可以有效地最小化或消除腕部转子动力学的不期望的交叉耦合和离心分量。球形步进电机在机器人应用中具有三自由度的肩膀或眼球以及腕部执行器的潜力。特别地,提出了球形步进器的系统概念,并研究了构造球形步进器的可行性。与实验数据一起,使用基于磁导率公式的分析方法来预测钕铁永磁体产生的驱动力。力-位移曲线为合理的球形电动机设计和控制提供了有用的信息。

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