| Budget Amount *help |
¥16,120,000 (Direct Cost: ¥12,400,000、Indirect Cost: ¥3,720,000)
Fiscal Year 2016: ¥4,810,000 (Direct Cost: ¥3,700,000、Indirect Cost: ¥1,110,000)
Fiscal Year 2015: ¥4,940,000 (Direct Cost: ¥3,800,000、Indirect Cost: ¥1,140,000)
Fiscal Year 2014: ¥6,370,000 (Direct Cost: ¥4,900,000、Indirect Cost: ¥1,470,000)
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| Outline of Final Research Achievements |
We developed a 3-degree-of-freedom (3-DOF) outer rotor type spherical actuator for spherical joints. It was difficult to evaluate the torque characteristics of the 3-DOF spherical actuator, and to compare among spherical actuators. In this research we developed an evaluation method using a torque map, and realized a torque evaluation at a given position. In addition, we proposed a method to create a torque map of a real machine using magnetic fluxes, and they showed a good agreement with a computed torque map. Finally, a position sensing method using color maps were developed.
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