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A novel spherical actuator: Design and control

Wang, J.B., Jewell, G.W. and Howe, D. (1997) A novel spherical actuator: Design and control. IEEE Transactions on Magnetics, 33 (5 (Par). pp. 4209-4211. ISSN 0018-9464


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The paper describes the design and control of a novel spherical permanent magnet actuator which is capable of two-degrees-freedom and a high specific torque. Based on an analytical actuator model, an optimal design procedure is developed to yield maximum output torque or maximum system acceleration for a given payload. The control of the actuator, whose dynamics are similar to those of robotic manipulators, is facilitated by the establishment of a complete actuation system model. A robust control law is applied, and its effectiveness is demonstrated by computer simulation

Item Type: Article
Copyright, Publisher and Additional Information: Copyright © 1997 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
Institution: The University of Sheffield
Academic Units: The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Electronic and Electrical Engineering (Sheffield)
Depositing User: Sherpa Assistant
Date Deposited: 12 Dec 2005
Last Modified: 05 Jun 2014 05:03
Published Version: http://dx.doi.org/10.1109/20.619712
Status: Published
Refereed: Yes
Identification Number: 10.1109/20.619712
URI: http://eprints.whiterose.ac.uk/id/eprint/854

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