球面モータの開発（任意姿勢における任意トルクの発生法）

• 笠島 永吉

  （独）産業技術総合研究所

• 矢野 智昭

  （独）産業技術総合研究所

• 芦田 極

  （独）産業技術総合研究所

書誌事項

タイトル別名

• Development of Spherical Motor (Torque Generating Method to the Arbitrary Direction in an Arbitrary Posture)

抄録

Spherical motor is a multi-degrees of freedom actuator which can be rotated in various directions. However, the control method of the completely arbitrary direction was not fully established in the conventional research. Usually, there were limitation of an angle and a problem of accuracy. In this paper, the general theory which generates torque in the arbitrary direction is proposed using a rotor which has arbitrarily arranged magnets, and a stator which has arbitrarily arranged coils. The theory uses the torque map which included the influence of all the magnets of the rotor. Desired torque is generated by resultant of the torque vector which the coils generate. Therefore, strict control is possible however complicated the pattern of the magnetic field is. First, the technique of the torque generation in the arbitrary direction and the creation method of a torque map are explained. Then, the basic experimental result in the case of the spherical motor with the hexahedron based rotor and the octahedron based stator is reported.

収録刊行物

• 日本機械学会論文集Ｃ編

  日本機械学会論文集Ｃ編 78 (792), 2860-2869, 2012

  一般社団法人 日本機械学会

キーワード

• Spherical Motor
• Multi Degree-of-Freedom
• Stepping Motor
• Actuator
• All Direction Rotation

詳細情報

• CRID: 1390001206386503680
• NII論文ID: 130002051531
• DOI: 10.1299/kikaic.78.2860
• ISSN: 18848354
• ISSN: 03875024
• Web Site: https://www.jstage.jst.go.jp/article/kikaic/78/792/78_2860/_pdf
• 本文言語コード: ja
• データソース種別:
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  • Crossref
  • CiNii Articles
  • KAKEN
• 抄録ライセンスフラグ: 使用不可