Authors:
- First monograph which systematically treats multi-DOF spherical actuators
- Important in the development of applications in the fields of robotics, automobile, aerospace, manufacturing and medicine industry
- Will broaden the scope of future research
- Includes supplementary material: sn.pub/extras
Part of the book series: Mechanisms and Machine Science (Mechan. Machine Science, volume 4)
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Table of contents (7 chapters)
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Front Matter
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Back Matter
About this book
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.
Reviews
From the reviews:
“This monograph aims to present a generic methodology for modeling, design, and experimental investigation of three degree-of-freedom (3-DOF) permanent magnet spherical actuators. … The book is primarily intended for researchers and developers working on spherical actuators, sensors, and instruments.” (IEEE Control Systems Magazine, February, 2012)Authors and Affiliations
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Sch. of Autom. Science & Electr. Engin., Beihang University, Beijing, China, People's Republic
Liang Yan
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Robotics Research Centre (N3-01a-01), Nanyang Technological University, Singapore, Singapore
I-Ming Chen, Chee Kian Lim
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Singapore Inst. of Manufact. Technology, Nanyang, Singapore
Guilin Yang
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Georgia Institute of Technology, Atlanta, USA
Kok-Meng Lee
Bibliographic Information
Book Title: Design, Modeling and Experiments of 3-DOF Electromagnetic Spherical Actuators
Authors: Liang Yan, I-Ming Chen, Chee Kian Lim, Guilin Yang, Kok-Meng Lee
Series Title: Mechanisms and Machine Science
DOI: https://doi.org/10.1007/978-94-007-1646-9
Publisher: Springer Dordrecht
eBook Packages: Engineering, Engineering (R0)
Copyright Information: Springer Science+Business Media B.V. 2011
Hardcover ISBN: 978-94-007-1645-2Published: 08 June 2011
Softcover ISBN: 978-94-017-7798-8Published: 23 August 2016
eBook ISBN: 978-94-007-1646-9Published: 06 June 2011
Series ISSN: 2211-0984
Series E-ISSN: 2211-0992
Edition Number: 1
Number of Pages: XXI, 163
Topics: Control, Robotics, Mechatronics, Electrical Engineering, Mechanical Engineering