Design of a New Type Multi Degree of Freedom Spherical Actuator

INTRODUCTION Recently, the study of single unit spherical actuators that can perform multi degree of freedom movements has increased. The spherical actuator is an electric machine that is able to tilt its shaft on multiple degrees of freedom using electromagnetic force. Various types of spherical motors have been developed. Lee et al.[1-4] devised variable reluctance spherical actuators. They researched the design, sensing, and control of the spherical actuator. Yan et al.[5,6] developed a spherical actuator similar to Lee’s; their drive principles are actually synchronous. Tomoaki et al.[7-9] have been studying and developing a wide range of multi degree of freedom drive systems.