Integrated design and modelling of an electro-magnets driven spherical parallel manipulator

Xuerong Li; Shaoping Bai; Weihai Chen; Jingmeng Liu

doi:10.1109/AIM.2017.8014183

Integrated design and modelling of an electro-magnets driven spherical parallel manipulator

Xuerong Li, Shaoping Bai^*, Weihai Chen, Jingmeng Liu

^*Corresponding author for this work

Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research › peer-review

5 Citations (Scopus)

Abstract

This paper presents a novel design of an integrated electro-magnets driven spherical parallel manipulator which produces 3-degree-of-freedom (3-DOF) rotational motion within the workspace. The spherical parallel manipulator is actuated by the interaction between stator coils and the rotor magnetic field. The kinematic and dynamic models are developed. The torque model is formulated analytically based on the magnetic field distribution of the permanent magnet slide unit. Finally, the magnetic field distribution and the torque model are both validated using the finite element analysis.

Original language	English
Title of host publication	2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
Number of pages	6
Publisher	IEEE
Publication date	21 Aug 2017
Pages	1209-1214
Article number	8014183
ISBN (Electronic)	978-1-5090-6000-9
DOIs	https://doi.org/10.1109/AIM.2017.8014183
Publication status	Published - 21 Aug 2017
Event	2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 - Munich, Germany Duration: 3 Jul 2017 → 7 Jul 2017

Conference

Conference	2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017
Country/Territory	Germany
City	Munich
Period	03/07/2017 → 07/07/2017

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10.1109/AIM.2017.8014183

Cite this

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title = "Integrated design and modelling of an electro-magnets driven spherical parallel manipulator",

abstract = "This paper presents a novel design of an integrated electro-magnets driven spherical parallel manipulator which produces 3-degree-of-freedom (3-DOF) rotational motion within the workspace. The spherical parallel manipulator is actuated by the interaction between stator coils and the rotor magnetic field. The kinematic and dynamic models are developed. The torque model is formulated analytically based on the magnetic field distribution of the permanent magnet slide unit. Finally, the magnetic field distribution and the torque model are both validated using the finite element analysis.",

author = "Xuerong Li and Shaoping Bai and Weihai Chen and Jingmeng Liu",

year = "2017",

month = aug,

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doi = "10.1109/AIM.2017.8014183",

language = "English",

pages = "1209--1214",

booktitle = "2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017",

publisher = "IEEE",

address = "United States",

note = "2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017 ; Conference date: 03-07-2017 Through 07-07-2017",

}

Li, X, Bai, S, Chen, W & Liu, J 2017, Integrated design and modelling of an electro-magnets driven spherical parallel manipulator. in 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017., 8014183, IEEE, pp. 1209-1214, 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017, Munich, Germany, 03/07/2017. https://doi.org/10.1109/AIM.2017.8014183

Integrated design and modelling of an electro-magnets driven spherical parallel manipulator. / Li, Xuerong; Bai, Shaoping; Chen, Weihai et al.

2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017. IEEE, 2017. p. 1209-1214 8014183.

Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research › peer-review

TY - GEN

T1 - Integrated design and modelling of an electro-magnets driven spherical parallel manipulator

AU - Li, Xuerong

AU - Bai, Shaoping

AU - Chen, Weihai

AU - Liu, Jingmeng

PY - 2017/8/21

Y1 - 2017/8/21

N2 - This paper presents a novel design of an integrated electro-magnets driven spherical parallel manipulator which produces 3-degree-of-freedom (3-DOF) rotational motion within the workspace. The spherical parallel manipulator is actuated by the interaction between stator coils and the rotor magnetic field. The kinematic and dynamic models are developed. The torque model is formulated analytically based on the magnetic field distribution of the permanent magnet slide unit. Finally, the magnetic field distribution and the torque model are both validated using the finite element analysis.

AB - This paper presents a novel design of an integrated electro-magnets driven spherical parallel manipulator which produces 3-degree-of-freedom (3-DOF) rotational motion within the workspace. The spherical parallel manipulator is actuated by the interaction between stator coils and the rotor magnetic field. The kinematic and dynamic models are developed. The torque model is formulated analytically based on the magnetic field distribution of the permanent magnet slide unit. Finally, the magnetic field distribution and the torque model are both validated using the finite element analysis.

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DO - 10.1109/AIM.2017.8014183

M3 - Article in proceeding

AN - SCOPUS:85028775845

SP - 1209

EP - 1214

BT - 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017

PB - IEEE

T2 - 2017 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017

Y2 - 3 July 2017 through 7 July 2017

ER -

Integrated design and modelling of an electro-magnets driven spherical parallel manipulator

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