Название: Permanent Magnet Spherical Motors: Model and Field Based Approaches for Design, Sensing and Control Автор: Kun Bai, Kok-Meng Lee
Издательство: Springer
Серия: Research on Intelligent Manufacturing
ISBN: 9811079617
Год: 2018
Страниц: 170
Язык: английский
Формат: pdf (true), epub
Размер: 11.5 MB
Сферические двигатели, которые могут достигать вращательного движения с несколькими степени свободы в одном соединении обладают широким потенциалом применения в современной производственной, робототехнической, автомобильной и медицинской промышленности. Цель этой книги - обеспечение систематического подхода к разработке высокопроизводительных сферических двигателей, основных концепций и решений для моделирования, определения ориентации и управления.
Spherical motors which can achieve multi-DOF rotational motion in one joint have wide potential applications in modern manufacturing, robotics, automobile and medical industries. To provide systematic approaches for developing high-performance spherical motors, the basic concepts and solutions for the modeling, sensing and control are the focus of this book.
This book introduces and illustrates modeling, sensing, and control methods for analyzing, designing, and developing spherical motors. It systematically presents models for establishing the relationships among the magnetic fields, position/orientation and force/torque, while also providing time-efficient solutions to assist researchers and engineers in studying and developing these motors. In order to take full advantage of spherical motors’ compact structure in practical applications, sensing and control methods that utilize their magnetic fields and eliminate the need to install external sensors for feedback are proposed. Further, the book investigates for the first time spherical motors’ force/torque manipulation capability, and proposes algorithms enabling the ball-joint-like end-effector for haptic use based on these motors’ hybrid position/force actuation modes. While systematically presenting approaches to their design, sensing and control, the book also provides many examples illustrating the implementation issues readers may encounter.