Design of a novel 3-DOF spherical actuator using VCM

Abstract

We propose a novel 3-DOF (degree of freedom) spherical actuator which is easy to control. The original idea is to use VCM principle. The novel spherical actuator has four pair spherical yokes, one ring type magnet, one spherical shape back yoke, and can be rotated in three axes. The greatest advantage of this novel actuator is that it is convenient to control. Three rotational axes which are actuated by Lorentz forces are decoupled, therefore the actuator is easy to control in three rotational directions by independent torque. The concept designed actuator was simulated by 3D FEM analysis program, and we verified a realizable possibility of proposed novel 3-DOF spherical actuator.