2013 Fiscal Year Final Research Report
Development of a 3-DOF spherical actuator for a robot wrist
| Project/Area Number |
23656200
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| Research Category |
Grant-in-Aid for Challenging Exploratory Research
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| Allocation Type | Multi-year Fund |
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| Research Field |
Power engineering/Power conversion/Electric machinery
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| Research Institution | Osaka University |
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Principal Investigator |
HIRATA KATSUHIRO 大阪大学, 工学(系)研究科(研究院), 教授 (00403139)
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| Project Period (FY) |
2011 – 2013
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| Keywords | 三自由度アクチュエータ / フィードバック制御 / ロボット / 電磁場解析 / 有限要素法 |
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| Research Abstract |
In this study, we confirmed the effectiveness of the proposed outer rotor 3-DOFspherical actuator by clarifying its operational principle employing FEM. Moreover, we developed a new position sensing method of a mover and the feedback control method for this actuator. The excellent performances of the actuator was conformed though the optimization analysis of magnetic circuit and control gain. A prototype was designed using the obtained analyzed results. In future, we are going to verify the effectiveness of the actuator through the measurement of this prototype.
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