Spherical Machines: A Literature Review
(2005) In TEIE- 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)
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/1516710
- author
- Martinez, David LU
- organization
- publishing date
- 2005
- type
- Book/Report
- publication status
- published
- subject
- in
- TEIE
- pages
- 14 pages
- publisher
- IEA
- report number
- TEIE-7208
- 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
- 2016-04-04 12:19:56
- date last changed
- 2018-11-21 21:10:20
@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}},
number = {{TEIE-7208}},
series = {{TEIE}},
title = {{Spherical Machines: A Literature Review}},
url = {{https://lup.lub.lu.se/search/files/5980709/1516712.pdf}},
year = {{2005}},
}