1887
banner image
No data available.
Please log in to see this content.
You have no subscription access to this content.
No metrics data to plot.
The attempt to load metrics for this article has failed.
The attempt to plot a graph for these metrics has failed.
Analysis and decoupling control of a permanent magnet spherical actuator
Rent:
Rent this article for
USD
10.1063/1.4833681
/content/aip/journal/rsi/84/12/10.1063/1.4833681
http://aip.metastore.ingenta.com/content/aip/journal/rsi/84/12/10.1063/1.4833681

Figures

Image of FIG. 1.
FIG. 1.

Spherical actuator. (a) CAD model of spherical actuator. (b) Assembly diagram.

Image of FIG. 2.
FIG. 2.

Rotor structure.

Image of FIG. 3.
FIG. 3.

Passive spherical joint.

Image of FIG. 4.
FIG. 4.

Stator structure.

Image of FIG. 5.
FIG. 5.

Operating principle. (a) Spinning motion. (b) Tilting motion.

Image of FIG. 6.
FIG. 6.

Prototype of the spherical actuator. (a) Spherical actuator. (b) Rotor. (c) Passive spherical joint.

Image of FIG. 7.
FIG. 7.

Experimental platform.

Image of FIG. 8.
FIG. 8.

Diagram of current controller.

Image of FIG. 9.
FIG. 9.

Spinning motion tracking.

Image of FIG. 10.
FIG. 10.

Spinning motion at low velocity.

Image of FIG. 11.
FIG. 11.

Step response of tilting control. (a) Euler angle α. (b) Euler angle β. (c) Steady state tracking error of α and β.

Image of FIG. 12.
FIG. 12.

Tilting control of spinning rotor with three layer coils. (a) Tilting motion. (b) Spinning motion. (c) Steady state tracking error of α and β.

Image of FIG. 13.
FIG. 13.

Tilting control of spinning rotor with two layer coils. (a) Tilting motion. (b)Spinning motion. (c) Steady state tracking error of α and β.

Tables

Generic image for table
Table I.

Structure specifications of the spherical actuator.

Loading

Article metrics loading...

/content/aip/journal/rsi/84/12/10.1063/1.4833681
2013-12-05
2014-04-20
Loading

Full text loading...

This is a required field
Please enter a valid email address
752b84549af89a08dbdd7fdb8b9568b5 journal.articlezxybnytfddd
Scitation: Analysis and decoupling control of a permanent magnet spherical actuator
http://aip.metastore.ingenta.com/content/aip/journal/rsi/84/12/10.1063/1.4833681
10.1063/1.4833681
SEARCH_EXPAND_ITEM