Dynamic Analysis of an Independently Controllable Electromagnetic Spherical Actuator

We have been developing electromagnetic spherical actuators capable of three-degree-of-freedom rotation. However, these actuators require complex control because rotation around one axis interferes with rotation around another. In this paper, we propose a new 3-DOF actuator where the 3-axes can be independently controlled, and the basic structure and the operating principle of the actuator are described. Then the dynamic performance under position feedback control is analyzed employing 3D-FEM and the effectiveness of this actuator is clarified.