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A spherical actuator is a novel electric device that can achieve
2/3-DOF rotational motions in a single joint with electric power
input. It has advantages such as compact structure, low mass/moment
of inertia, fast response and non-singularities within the
workspace. It has promising applications in robotics, automobile,
manufacturing, medicine and aerospace industry. This is the first
monograph that introduces the research on spherical actuators
systematically. It broadens the scope of actuators from
conventional single-axis to multi-axis, which will help both
beginners and researchers to enhance their knowledge on
electromagnetic actuators. Generic analytic modeling methods for
magnetic field and torque output are developed, which can be
applied to the development of other electromagnetic actuators. A
parametric design methodology that allows fast analysis and design
of spherical actuators for various applications is proposed. A
novel non-contact high-precision 3-DOF spherical motion sensing
methodology is developed and evaluated with experiments, which
shows that it can achieve one order of magnitude higher precision
than conventional methods. The technologies of
nondimensionalization and normalization are introduced into
magnetic field analysis the first time, and a benchmark database is
established for the reference of other researches on spherical
actuators.
A spherical actuator is a novel electric device that can achieve
2/3-DOF rotational motions in a single joint with electric power
input. It has advantages such as compact structure, low mass/moment
of inertia, fast response and non-singularities within the
workspace. It has promising applications in robotics, automobile,
manufacturing, medicine and aerospace industry. This is the first
monograph that introduces the research on spherical actuators
systematically. It broadens the scope of actuators from
conventional single-axis to multi-axis, which will help both
beginners and researchers to enhance their knowledge on
electromagnetic actuators. Generic analytic modeling methods for
magnetic field and torque output are developed, which can be
applied to the development of other electromagnetic actuators. A
parametric design methodology that allows fast analysis and design
of spherical actuators for various applications is proposed. A
novel non-contact high-precision 3-DOF spherical motion sensing
methodology is developed and evaluated with experiments, which
shows that it can achieve one order of magnitude higher precision
than conventional methods. The technologies of
nondimensionalization and normalization are introduced into
magnetic field analysis the first time, and a benchmark database is
established for the reference of other researches on spherical
actuators.
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