지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 저널정보
- 대한전기학회 Journal of Electrical Engineering & Technology Journal of Electrical Engineering & Technology Vol.7 No.6
- 발행연도
- 2012.11
- 수록면
- 926 - 931 (6page)
이용수
초록· 키워드
오류제보하기
Since robot industry growing, the machine that could move with multi-DOF has been studied in many industrial fields. Spherical motor is one of the multi-DOF machine that doesn’t need gear for multi-DOF motion. Unlike conventional motor, spherical motor can not only rotate on the shaft axis (rotating motion), but tilt the shaft with 2-DOF motion (positioning motion). In the typical type of spherical motor, one coil took part in positioning motion and rotating motion at the same time. As the result, the control algorithm was complex. To solve this problem, this study proposed a novel type of coil on the stator. The coils were separated for positioning motion and rotating motion. Thus the linkage flux of rotating coil didn’t be affected the positioning angle. In this paper, comparing the back-EMF of typical and novel type was conducted and the driving experiment was carried out as the positioning angle. From the experiment result, the performance of proposed spherical motor could be verified.
목차
Abstract
1. Introduction
2. Characteristic of Spherical Motor
3. A Novel Design of Spherical Motor Coils
4. Conclusion
Acknowledgements
References
참고문헌 (5)
참고문헌 신청
Wang. J / 2001 / Multi-degree-of-freedom spherical permanent magnet motors / Proceedings of IEEE ICRA 2001
Yano. T / 2007 / Basic Characteristics of a Multi-pole Spherical Synchronous Motor / MHS 07 383(388):383~388
John J. Craig / 2005 / Introduction to Robotics / Pearson Prentice Hall
고성철 / 2010 / Design Consideration of Back-EMF Constant for 3-D.O.F. Spherical PM Motor / Journal of Magnetics 15(2):78~84
Dong-Woo Kang / 2009 / Method of Current Compensation for Reducing Error of Holding Torque of Permanent- Magnet Spherical Wheel Motor / IEEE Trans. Magnetics 45(6):2819~2822
Yano. T / 2007 / Basic Characteristics of a Multi-pole Spherical Synchronous Motor / MHS 07 383(388):383~388
John J. Craig / 2005 / Introduction to Robotics / Pearson Prentice Hall
고성철 / 2010 / Design Consideration of Back-EMF Constant for 3-D.O.F. Spherical PM Motor / Journal of Magnetics 15(2):78~84
Dong-Woo Kang / 2009 / Method of Current Compensation for Reducing Error of Holding Torque of Permanent- Magnet Spherical Wheel Motor / IEEE Trans. Magnetics 45(6):2819~2822
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UCI(KEPA) : I410-ECN-0101-2014-560-001142658