| Title |
A Study of Structure for Improving Tilting Stability of Multi Degree Of Freedom Spherical Traction Motor |
| Authors |
이택수(Taek-Su Lee) ; 박승우(Seung-Woo Park) ; 문주형(Ju-Hyeong Moon) ; 김태형(Tae-Hyeong Kim) ; 강동우(Dong-Woo Kang) |
| DOI |
https://doi.org/10.5370/KIEEP.2023.72.1.31 |
| Keywords |
Multi-axis control; spherical motor; induction motor; holding torque; vibration reduction |
| Abstract |
The technology related to the multi-axis spherical motor is a technology that implements a three-dimensional motion, and various countries and research institutes are currently conducting prior research. A motor using a spherical type rotor can dramatically increase the degree of freedom of vehicle steering and robot motion according to the expansion of the tilt angle that determines the movable range of the rotation axis. when a multi-axis control system is used by adding mechanical axes, the size of the motor increases due to additional devices such as complex power conversion devices such as multiple gears and links. To solve this size problem, a spherical motor that does not use a mechanical axis can significantly affect the size. However, if a mechanical axis is not used, a problem in stability, such as shaking, occurs during driving. In this paper, we proposed an auxiliary structure to improve the stability of an inductive spherical by using a permanent magnet instead of a mechanical shaft. |