E-Book, Englisch, Band 4, 166 Seiten, eBook
Yan / Chen / Lim Design, Modeling and Experiments of 3-DOF Electromagnetic Spherical Actuators
1. Auflage 2011
ISBN: 978-94-007-1646-9
Verlag: Springer Netherland
Format: PDF
Kopierschutz: 1 - PDF Watermark
E-Book, Englisch, Band 4, 166 Seiten, eBook
Reihe: Mechanisms and Machine Science
ISBN: 978-94-007-1646-9
Verlag: Springer Netherland
Format: PDF
Kopierschutz: 1 - PDF Watermark
Zielgruppe
Research
Autoren/Hrsg.
Weitere Infos & Material
List of Figures.- List of Tables.- 1 Introduction.- 1.1 Background and Motivation.- 1.2 The State of the.- 1.3 Objective and Scope of the Study.- 1.4 Book Organization.- References.- 2 Magnetic Field Modeling.- 2.1 Introduction.- 2.2 Configuration of Rotor Poles.- 2.3 Magnetic Scalar Potential.- 2.3.1 Relations Between H and B for Three Regions.- 2.3.2 Laplace’s Equations for Three Regions.- 2.3.3 General Solution of Laplace’s Equation.- 2.4 Spherical Harmonic Expansion of M 0 r.- 2.5 Boundary Conditions.- 2.5.1 Boundary Condition A or Far Field Boundary Condition ( BIr j r !¥ = 0, BI q j r !¥ = 0 and BI f j r !¥ = 0).- 2.5.2 Boundary Condition B ( BIr j r = Rr = BIIr j r = Rr ).- 2.5.3 Boundary Condition C ( HI f j r = Rr = HII f j r = Rr and HI q j r = Rr = HII q j r = Rr ).- 2.5.4 Finite Boundary Condition D at r = 0 ( BIIIr j r =0 6= ¥, BIII q j r =0 6= ¥ and BIII f j r =0 6= ¥).- 2.5.5 Boundary Condition E ( BIIr j r = Rb = BIIIr j r = Rb ).- 2.5.6 Boundary Condition F ( HII f j r = Rb = HIII f j r = Rb and HII q j r = Rb = HIII q j r = Rb ).- 2.5.7 Solution of Coefficients x mnI and k mnI.- 2.6 Solutions of Scalar Potential and Flux Density.- 2.7 Simplification of Magnetic Field Model.- 2.8 Summary.- References.- 3 Torque Modeling.- 3.1 Introduction.- 3.2 Formulation of Actuator Torque.- 3.2.1 Torque Generating Component of Flux Density.- 3.2.2 Torque Model for a Single Coil.- 3.2.3 Torque Model for Complete Set of Coils.- 3.2.4 Orientation Dependance of Torque Model.- 3.3 Solution of Inverse Electromagnetics.- 3.3.1 Nonsingularity of the Workspace.- 3.3.2 Minimum Right-inverse Solution of Electromagnetics.- 3.4 Summary.- References.- 4 PrototypeDevelopment.- 4.1 Introduction.- 4.1.1 Prototype of PM Spherical Actuator.- 4.1.2 Equations for Actuator Design.- 4.2 Rotor Pole Design.- 4.2.1 Longitudinal Angle a versus a.- 4.2.2 Latitudinal Angle b versus c.- 4.2.3 Rotor Radius Rr versus d 4.- 4.2.4 Rotor Core Radius Rb versus d 4.- 4.2.5 Relative Permeability m r versus d 4.- 4.2.6 Result of PM Pole Design.- 4.3 Coil Pole Design.- 4.3.1 Geometric Parameters of Coil.- 4.3.2 Increase Number of Winding Turns.- 4.3.3 Material of Coil Frame.- 4.4 Stator.- 4.5 Spherical Bearing.- 4.6 Summary.- References.- 5 Experimental Investigation.- 5.1 Measurement of PM Rotor Magnetic Field.- 5.1.1 Flux Density Measurement Apparatus.- 5.1.2 Flux Density Data Processing.- 5.1.3 Visualization and Analysis of Experimental Result.- 5.2 Measurement of Actuator Torque Output.- 5.2.1 Experiment on Torque Generated by a Single Coil.- 5.2.2 Experiment on Torque Generated by Multiple Coils.- 5.3 Summary.- References.- 6 Three Degree-of-freedom Optical Orientation Measurement.- 6.1 Introduction.- 6.2 Operating Principle.- 6.3 Algorithm for Computing Rotation Angles.- 6.3.1 Definition of Coordinate Systems.- 6.3.2 Calculation of Tilting Angles.- 6.3.3 Calculation of Spinning Angle.- 6.4 Experimental Measurement.- 6.4.1 Experimental Measurement on Apparatus 1.- 6.4.2 Experimental Measurement on Apparatus 2.- 6.5 Conclusion.- References.- 7 Conclusions.- 7.1 Accomplishments and Contributions.- 7.2 Recommendation for Future Research.- References.- Index.