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This paper presents a novel design of an integrated electro-magnets driven spherical parallel manipulator which produces 3-degree-of-freedom (3-DOF) rotational motion within the workspace. The spherical parallel manipulator is actuated by the interaction between stator coils and the rotor magnetic field. The kinematic and dynamic models are developed. The torque model is formulated analytically based...
This study presents a robust dynamic decoupling control strategy to solve the trajectory tracking problem for the permanent magnet spherical actuator (PMSA). The dynamic model of PMSA obtained by the Lagrange–Euler formalism is obviously a multi-variable non-linear system with strong cross-couplings. Furthermore, uncertainties such as model errors and external disturbances will also affect the precision...
This paper presents a three-DOF permanent spherical actuator, with precise measurement system. As magnetic model is very useful to torque model and control model, magnetic model is the basis of spherical actuator study. A new analytical magnetic field model is presented for the proposed 3-DOF spherical actuator in this paper. This analytical magnetic field method combines the Laplace equation with...
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