Experimental evaluation of the static characteristics of multi-degree-of-freedom spherical actuators

摘要

Multi-degree-of-freedom (multi-DOF) actuators have been developed for the fields of robotics and industrial machinery.In general, the actuating system with several degrees of freedom is composed of single-DOF motors, which results in large, heavy and complicated structures. Therefore, multi-DOF actuators are expected to solve these problems, and various types of actuators have been studied. Unlike 1-DOF motors, the multi-DOF actuators can generate torques in various positions and directions. Due to this, it is difficult to measure the static torque characteristics. In this paper, in order to experimentally evaluate the static characteristics of a multi-DOF actuator, its flux linkage is firstly measured using a 3-RRR parallel mechanism, and its torque constant map is calculated. The static torque characteristics are evaluated using the torque constant map. Finally, the effectiveness of this method is discussed.