کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
10327123 | 680699 | 2005 | 8 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Design, modeling and first experimentation of a two-degree-of-freedom spherical actuator
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کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
مهندسی کامپیوتر
هوش مصنوعی
پیش نمایش صفحه اول مقاله
![عکس صفحه اول مقاله: Design, modeling and first experimentation of a two-degree-of-freedom spherical actuator Design, modeling and first experimentation of a two-degree-of-freedom spherical actuator](/preview/png/10327123.png)
چکیده انگلیسی
This paper deals with the design of a two-actuated-degree-of-freedom (DOF) spherical electrical actuator for mobile robotic applications. It presents the different steps involved in this design, namely the choice of the actuation principle (induction), its application to the case of a spherical geometry and two DOFs, the analytical and numerical modeling of the motor, and the sizing and the manufacture of a first one-actuated-DOF spherical prototype. The first experimental results, obtained thanks to our test bench and presenting the torque vs rotor angular speed characteristic of the actuator, are likewise compared with the model predictions.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Computer-Integrated Manufacturing - Volume 21, Issue 3, June 2005, Pages 197-204
Journal: Robotics and Computer-Integrated Manufacturing - Volume 21, Issue 3, June 2005, Pages 197-204
نویسندگان
Bruno Dehez, Vincent Froidmont, Damien Grenier, Benoît Raucent,