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Content Provider | IEEE Xplore Digital Library |
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Author | Sung Hong Won Ju Lee |
Copyright Year | 2006 |
Description | Author affiliation: Dept. of Electr. Eng., Hanyang Univ., Seoul (Sung Hong Won; Ju Lee) |
Abstract | This paper presents the torque calculation method of a new spherical robotic wrist motor capable of three degrees of freedom (DOF) motion in a single joint. The spherical motor bases its operation principle on permanent magnet BLDC motor. Prediction of the spherical motor characteristics requires the computation of the exact motor dynamics at each position and angle using 3D finite element analysis which imposes a computational burden. By only calculating Lorentz forces of the coil area mesh elements, this computational burden can be reduced |
Starting Page | 502 |
Ending Page | 502 |
File Size | 329232 |
Page Count | 1 |
File Format | |
ISBN | 1424403200 |
DOI | 10.1109/CEFC-06.2006.1633292 |
Language | English |
Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Publisher Date | 2006-04-30 |
Publisher Place | USA |
Access Restriction | Subscribed |
Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Subject Keyword | Torque Wrist Coils Permanent magnet motors Finite element methods Service robots Brushless DC motors Magnetic analysis Stators Rotors |
Content Type | Text |
Resource Type | Article |
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