Dynamic Modeling, Characteristic Analysis and Co-simulation of the Permanent-Magnet Spherical Actuator
نویسندگان
چکیده
As the traditional mathematical modeling may lead to difficulties in solving a complex problem, a novel co-modeling and simulation method for the three-degrees-of-freedom (3-DOF) permanent-magnet spherical actuator (PMSA) is presented. After describing the basic structure and operating principle of PMSA, a geometry model is set up based on the SolidWorks. The dynamic characteristics are then analysed by employing Automatic Dynamic Analysis of Mechanical Systems (ADAMS). Finally, a co-simulation platform based on ADAMS and MATLAB is implemented to validate the effectiveness of the dynamic model, control strategy and design methodology as well as to provide an innovative reference for the future research and experimental design of
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