Spherical Motor(球面马达)研究综述
Spherical Motor 球面马达 - The electromagnetic drive mode of a spherical motor is applied to the three-degree-of-freedom (3-DOF) spherical parallel manipulator, in order to solve the problem of motion error caused by the transmission device and motor following in the traditional spherical parallel manipulator. [1] Inertial attitude measurement of spherical motor on moving base (SMMB) confronts the problems of unobservable azimuth and acceleration interference. [2] In order to facilitate a ball-joint-like spherical motor to operate with positioning systems to offer cascaded 6-DOF motion, a control method for precisely manipulating the spherical motor orientation in moving frame is proposed. [3] Three-degree-of-freedom (3-DOF) spherical motors have been developed for these applications. [4] The results show that this spherical motor can reach up to 5. [5] Simulations using a standard model of spherical motors illustrate the tracking performance of the controlled rotor’s orientations. [6] In this paper the authors review spherical motion generation by means of parallel manipulators or spherical motors. [7] A spherical motor has multiple degrees of freedom. [8] Categorized by the driving principles, the various design techniques of reaction spheres are firstly reviewed, including the spherical motor based and the multi-driving-wheels based. [9]将球面电机的电磁驱动方式应用于三自由度（3-DOF）球面并联机械臂，以解决传统球面并联中传动装置和电机跟随引起的运动误差问题。机械手。 [1] 移动基座上球面电机惯性姿态测量（SMMB）面临方位角不可观测和加速度干扰等问题。 [2] 为便于球节式球面电机配合定位系统提供级联六自由度运动，提出了一种在运动框架内精确操纵球面电机方位的控制方法。 [3] 已经为这些应用开发了三自由度 (3-DOF) 球形马达。 [4] 结果表明，这种球形马达可以达到5。 [5] 使用球形电机标准模型的仿真说明了受控转子方向的跟踪性能。 [6] 在本文中，作者回顾了通过并联机械手或球面马达产生球面运动。 [7] 球形马达具有多个自由度。 [8] 从驱动原理分类，首先对反作用球的各种设计技术进行了综述，包括基于球形电机的和基于多驱动轮的。 [9]
Magnet Spherical Motor 磁铁球面马达
Permanent magnet spherical motors (PMSMs) operate on the principle of the dc excitation of stator coils and three freedom of motion in the rotor. [1] This article mainly studies the tilting torque characteristic of a novel iron-cored tiered-type permanent magnet spherical motor (T-PMSpM), which has the merit of large torque ability benefitted from the use of iron cores in both rotor and stator. [2] Compared with the general multi-degree-of-freedom motor, the permanent magnet spherical motor has the advantages of simple structure, convenient control and small size. [3] Therefore, dynamics analysis and modified electrifying method of a permanent magnet spherical motor (PMSM), which can provide up to three degrees-of-freedom independently for PTP motion is presented in this study. [4] The inverse kinematics of permanent magnet spherical motor is the basis of dynamic control, motion analysis and trajectory planning. [5] Considering the influence of electromagnetic heat and fluid–structure interaction on the actual deformation of multi-degree-of-freedom permanent magnet spherical motor, with multi-physics finite-element multi-physical field simulation software, the coupling simulation calculation of electromagnetic heat, fluid dynamics analysis, and structural mechanics of the motor is realized, and the temperature rise and displacement distribution of the motor are obtained. [6] In this paper, the three-dimensional magnetic field analysis of a dual-stator permanent magnet spherical motor is carried out by the finite element simulation software ANSYS. [7]永磁球形电机 (PMSM) 的工作原理是定子线圈的直流励磁和转子的三个运动自由度。 [1] 本文主要研究了一种新型铁芯叠层式永磁球形电动机（T-PMSpM）的倾转转矩特性，该电动机由于转子和定子都使用铁芯而具有大转矩能力的优点。 [2] 与一般多自由度电机相比，永磁球形电机具有结构简单、控制方便、体积小等优点。 [3] 因此，本研究提出了一种永磁球形电机 (PMSM) 的动力学分析和改进的通电方法，该电机可为 PTP 运动独立提供多达三个自由度。 [4] 永磁球形电机的逆运动学是动态控制、运动分析和轨迹规划的基础。 [5] 考虑电磁热和流固耦合对多自由度永磁球形电机实际变形的影响，利用多物理场有限元多物理场仿真软件，进行电磁热耦合仿真计算，流体动力学分析，实现电机的结构力学，得到电机的温升和位移分布。 [6] 本文采用有限元仿真软件ANSYS对双定子永磁球形电机进行三维磁场分析。 [7]