Study on a spherical actuator for humanoid robots

2016 Fiscal Year Final Research Report

• Project/Area Number: 26289077
• Research Category: Grant-in-Aid for Scientific Research (B)
• Allocation Type: Partial Multi-year Fund
• Section: 一般
• Research Field: Power engineering/Power conversion/Electric machinery
• Research Institution: Osaka University
• Principal Investigator: HIRATA Katsuhiro 大阪大学, 工学(系)研究科(研究院), 教授 (00403139)
• Co-Investigator(Renkei-kenkyūsha): NIGUCHI Noboru 大阪大学, 大学院工学研究科, 助教 (60614039)
• Project Period (FY): 2014-04-01 – 2017-03-31
• Keywords: 球面アクチュエータ

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.

Free Research Field

電磁アクチュエータ