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Spherical Machines: A Literature Review

Martinez, David LU (2005) In TEIE TEIE-7208.
Abstract
This report contains a summary of the work with spherical electrical machines found in the specialised literature. Spherical actuators allow several degrees of freedom (DOF), which is particularly interesting in robotics. Complex movements are traditionally accomplished by combining several electrical machines with 1-DOF, ending up with an overweight actuator and accuracy problems due to tolerances. The research into multidegree-of-freedom actuators has been ongoing for decades, the first designs dating from the late 1950’s. However, competitive performance has not been achieved until power electronics and digital signal processors were incorporated in the controls, and therefore the literature reviewed in this report is mainly limited to... (More)
This report contains a summary of the work with spherical electrical machines found in the specialised literature. Spherical actuators allow several degrees of freedom (DOF), which is particularly interesting in robotics. Complex movements are traditionally accomplished by combining several electrical machines with 1-DOF, ending up with an overweight actuator and accuracy problems due to tolerances. The research into multidegree-of-freedom actuators has been ongoing for decades, the first designs dating from the late 1950’s. However, competitive performance has not been achieved until power electronics and digital signal processors were incorporated in the controls, and therefore the literature reviewed in this report is mainly limited to the contributions done in the last decade. The report is mainly focused on the configurations presenting 3-DOF which have been successfully implemented in practice, although other potential topologies and 2-DOF systems are also reviewed. (Less)
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author
organization
publishing date
type
Book/Report
publication status
published
subject
in
TEIE
volume
TEIE-7208
pages
14 pages
publisher
IEA
external identifiers
  • Other:LUTEDX/(TEIE-7208)/1-14/(2005)
language
English
LU publication?
yes
id
df7a3cec-7e75-45d9-9e90-957d19b8eb5a (old id 1516710)
date added to LUP
2010-01-07 13:47:42
date last changed
2016-04-16 10:25:45
@techreport{df7a3cec-7e75-45d9-9e90-957d19b8eb5a,
  abstract     = {This report contains a summary of the work with spherical electrical machines found in the specialised literature. Spherical actuators allow several degrees of freedom (DOF), which is particularly interesting in robotics. Complex movements are traditionally accomplished by combining several electrical machines with 1-DOF, ending up with an overweight actuator and accuracy problems due to tolerances. The research into multidegree-of-freedom actuators has been ongoing for decades, the first designs dating from the late 1950’s. However, competitive performance has not been achieved until power electronics and digital signal processors were incorporated in the controls, and therefore the literature reviewed in this report is mainly limited to the contributions done in the last decade. The report is mainly focused on the configurations presenting 3-DOF which have been successfully implemented in practice, although other potential topologies and 2-DOF systems are also reviewed.},
  author       = {Martinez, David},
  institution  = {IEA},
  language     = {eng},
  pages        = {14},
  series       = {TEIE},
  title        = {Spherical Machines: A Literature Review},
  volume       = {TEIE-7208},
  year         = {2005},
}