Modeling using magnetic dipole moment principle and orientation sensing of an electromagnetic spherical actuator

• Main Author: Lim, Chee Kian
• Other Authors: School of Mechanical and Aerospace Engineering
• Format: Theses and Dissertations
• Published: 2008
• Subjects: DRNTU::Engineering::Mechanical engineering
• Online Access: https://hdl.handle.net/10356/5585
• Institution: Nanyang Technological University

In this work, an electromagnetic MDOF spherical actuator is proposed. The underlying principle in creating MDOF motion is by electromechanical torque generated between the rotor and stator poles. This dexterous drive can achieve 3-DOF motion within a compact rigid joint. The design is configurable a...