Study on Multi-DOF Actuator for Improving Power Density

Sooyoung Cho, Ho Joon Lee and Ju Lee
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Sooyoung Cho: Department of Electrical Engineering, Hanyang University, Seoul 04763, Korea
Ho Joon Lee: Department of Electric Automatization, Busan Institute of Science & Technology, Busan 46639, Korea
Ju Lee: Department of Electrical Engineering, Hanyang University, Seoul 04763, Korea

Energies, 2019, vol. 12, issue 21, 1-14

Abstract: This study focuses on improving the power density of a spherical multi-degree-of-freedom (multi-DOF) actuator. A spherical multi-DOF actuator that can operate in three DOFs is designed. The actuator features a double air gap to reduce eddy current loss. However, a multi-DOF actuator driven by a single actuator exhibits low power density. Therefore, a Halbach magnet array is applied to improve the power density of a spherical multi-DOF actuator, and its output characteristics are compared with those of an existing spherical multi-DOF actuator via finite element analysis. Additionally, the output characteristics are analyzed based on changes in the coil pitch angle and magneto-motive force of the rotating winding. Furthermore, it is necessary for a spherical multi-DOF actuator to move to the command position. Hence, a stability analysis is performed to ensure that the spherical multi-DOF actuator is stably driven based on the command position.

Keywords: Halbach magnet array; multi-degree-of-freedom (DOF); multi-DOF actuator; power density; spherical actuator (search for similar items in EconPapers)
JEL-codes: Q Q0 Q4 Q40 Q41 Q42 Q43 Q47 Q48 Q49 (search for similar items in EconPapers)
Date: 2019
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