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RESEARCH PAPERS

A Spherical DC Servo Motor With Three Degrees of Freedom

[+] Author and Article Information
K. Kaneko, I. Yamada

Applied Electronics Laboratories, Nippon Telegraph and Telephone Corporation, Tokyo, 180, Japan

K. Itao

Storage Systems Laboratory and Applied Electronics Laboratories, Nippon Telegraph and Telephone Corporation, Tokyo, 180, Japan

J. Dyn. Sys., Meas., Control 111(3), 398-402 (Sep 01, 1989) (5 pages) doi:10.1115/1.3153067 History: Received May 24, 1988; Revised August 25, 1988; Online July 21, 2009

Abstract

A spherical DC servo motor with three degrees of freedom is proposed. First, the process of generating three-dimensional torque is analyzed to obtain the torque constant matrix. The matrix elements are shown to vary with rotor inclination, and winding currents are shown to interfere with each other. Then, the dynamics of the spherical motor are investigated theoretically and experimentally, considering torque interference, gyro moment and gravity. Finally, the trajectory of the prototype motor is shown in order to clarify its abilities. This new spherical motor is expected to produce a smaller, a lighter mechanism, since no gears or linkages are needed.

Copyright © 1989 by ASME
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