Optimization of stator pole arrangement for 3-DOF spherical actuator using genetic algorithm

摘要

The development of multi degree-of-freedom actuating systems is required in robotics and industrial machinery fields. In general, however, the actuating system with several degrees of freedom is composed of single degree-of-freedom motors, which results in large, heavy and complicated structures. Therefore, multi-degree-of-freedom actuators are expected to become a key technology to solve these problems and many types of actuators have been studied [1]-[3]. There remain, however, some problems in terms of the torque density, control method, and sensing systems. Under the circumstances, we are studying on an outer rotor 3-DOF spherical actuator with a multi-poles stator and a multi-pole pair permanent magnets rotor. In this paper, to increase the torque density, stator pole arrangement is optimized using Genetic Algorithm (GA) and the effectiveness of the optimization is confirmed.