Basic Consideration of Voice Coil Type Multiple-Degree-of-Freedom Actuator

摘要

Space recognition is a crucial task for autonomous systems such as robots and unmanned aerial vehicles. These systems necessary to get information using a camera while moving. However, the decrease of the recognition accuracy attributed to an image quality deterioration due to vibration and the increase of the system size have become problems. To solve these problems, we focused on multiple-degree-of-freedom (DOF) actuators. However, conventional multiple-DOF actuators require a large number of components, and the control device is large in size. Thus, we propose a novel multiple-DOF actuator that can be driven by a simple control device with a small number of components. First, a 2DOF actuator driven by a 3-phase half-bridge circuit is described. Next, a 3DOF actuator driven by a 4-phase half-bridge circuit is presented. The basic performance is evaluated by a magnetic field analysis using a three-dimensional finite element method. The analysis results show that the proposed actuator can be driven by the proposed operating principle and magnetic structure.