JP5164062B2 - 多自由度電磁アクチュエータ - Google Patents
多自由度電磁アクチュエータ Download PDFInfo
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- JP5164062B2 JP5164062B2 JP2007300378A JP2007300378A JP5164062B2 JP 5164062 B2 JP5164062 B2 JP 5164062B2 JP 2007300378 A JP2007300378 A JP 2007300378A JP 2007300378 A JP2007300378 A JP 2007300378A JP 5164062 B2 JP5164062 B2 JP 5164062B2
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- 230000005291 magnetic effect Effects 0.000 claims description 77
- 239000011295 pitch Substances 0.000 claims description 8
- 230000002093 peripheral effect Effects 0.000 claims description 7
- 230000003068 static effect Effects 0.000 description 24
- 238000000034 method Methods 0.000 description 14
- 238000010586 diagram Methods 0.000 description 7
- 230000005284 excitation Effects 0.000 description 6
- 238000004458 analytical method Methods 0.000 description 4
- 238000013461 design Methods 0.000 description 4
- 230000004907 flux Effects 0.000 description 4
- 230000005389 magnetism Effects 0.000 description 4
- 230000005415 magnetization Effects 0.000 description 3
- 210000005252 bulbus oculi Anatomy 0.000 description 2
- 239000000696 magnetic material Substances 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 102100023774 Cold-inducible RNA-binding protein Human genes 0.000 description 1
- 101000906744 Homo sapiens Cold-inducible RNA-binding protein Proteins 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003534 oscillatory effect Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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- Reciprocating, Oscillating Or Vibrating Motors (AREA)
Description
田中,鳥居,海老原他:「多自由度球体アクチュエータの提案と設計」,第11回MAGDAコンファレンス,PS2-3,pp.169-172,2002 長谷川祐也,平田勝弘,"2自由度電磁アクチュエータの研究",IEEJ Trans. IA, Vol.125,No.8,pp.519-523,2005.05 M. Weck,T. Reinartz,G. Henneberger,"Design of a spherical motor with three degrees of freedom",Proc. of annual meeting of the CIRP,vol. 49,pp289-294,2000 T.Yano et al.,"Basic Characteristics of the Small Spherical Stepping Motor",Proc. of IEEE IROS,pp.1980-1985,2002 K. Hirata,T. Yamamoto,T. Yamaguchi,Y. Kawase and Y. Hasegawa,"Dynamic Analysis Method of Two-Dimensional Linear Oscillatory Actuator Employing Finite Element Method",IEEE Transaction on Magnetics,VOL.43,No.4,pp.1441-1444,2007.04
11 磁性体
12 永久磁石
20 固定子
22 磁極
30 コイル
Claims (2)
- 互いに直交するx軸,y軸,z軸を有するxyz空間において、可動子をx軸,y軸,およびz軸の各軸周りに回転駆動可能な多自由度電磁アクチュエータであって、
xy平面内の円周方向に沿って配置される4n個(nは自然数)の分割された磁性体、および隣接する2つの磁性体の各間に等ピッチで挿入される4n個の永久磁石を備えた可動子と、
それぞれが6n個の磁極をもつ同一の磁性体からなり、z軸に沿って2つ配置されている固定子とを有し、
上記各固定子は、円周形状である固定子外枠部の内周面側に、突起状の上記磁極を等ピッチで配置させ、各磁極の先端面を上記可動子の外周面と所定のギャップを有するように対向させているものであり、
上記各磁極にはそれぞれコイルが巻かれており、各コイルに供給する電流は独立して制御することが可能であることを特徴とする多自由度電磁アクチュエータ。 - 本アクチュエータをz軸側から見た場合に、各固定子に備えられた磁極が交互に並ぶような配置とされていることを特徴とする請求項1に記載の多自由度電磁アクチュエータ。
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JP2007300378A JP5164062B2 (ja) | 2007-11-20 | 2007-11-20 | 多自由度電磁アクチュエータ |
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JP2007300378A JP5164062B2 (ja) | 2007-11-20 | 2007-11-20 | 多自由度電磁アクチュエータ |
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JP2009130957A JP2009130957A (ja) | 2009-06-11 |
JP5164062B2 true JP5164062B2 (ja) | 2013-03-13 |
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Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
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US11070122B2 (en) | 2019-02-22 | 2021-07-20 | Honeywell International Inc. | Multi-degree-of-freedom electromagnetic machine |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2010201606A (ja) * | 2009-03-06 | 2010-09-16 | Sinfonia Technology Co Ltd | 搬送装置 |
JP5370960B2 (ja) * | 2009-03-06 | 2013-12-18 | シンフォニアテクノロジー株式会社 | 電磁アクチュエータ装置、電磁アクチュエータの駆動装置、その駆動方法及び電磁アクチュエータを搭載した装置 |
JP6035590B2 (ja) * | 2014-05-27 | 2016-11-30 | 株式会社国際電気通信基礎技術研究所 | アクチュエータ装置、ヒューマノイド型ロボットおよびパワーアシスト装置 |
CN106849592B (zh) * | 2017-04-07 | 2019-03-05 | 华中科技大学 | 一种内定子永磁型动铁芯式直线振荡电机 |
CN113675964B (zh) * | 2021-08-24 | 2023-07-28 | 成都鼎信精控科技有限公司 | 一种多自由度有限转角电机 |
Family Cites Families (4)
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JPH0685630B2 (ja) * | 1984-03-28 | 1994-10-26 | 工業技術院長 | 3次元モ−タ |
JPH0714269B2 (ja) * | 1986-03-22 | 1995-02-15 | 日本電信電話株式会社 | 球面モ−タ |
JP2611180B2 (ja) * | 1994-03-31 | 1997-05-21 | 工業技術院長 | 3次元モータの回転磁界発生装置 |
JP2003116255A (ja) * | 2001-10-05 | 2003-04-18 | Matsushita Electric Ind Co Ltd | 駆動装置及びレンズ駆動機構 |
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Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
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US11070122B2 (en) | 2019-02-22 | 2021-07-20 | Honeywell International Inc. | Multi-degree-of-freedom electromagnetic machine |
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