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Design, Modeling and Experiments of 3-DOF Electromagnetic Spherical Actuators (Record no. 12613)

000 -LEADER
fixed length control field 06204nam a22004695i 4500
003 - CONTROL NUMBER IDENTIFIER
control field OSt
005 - DATE AND TIME OF LATEST TRANSACTION
control field 20140310143359.0
007 - PHYSICAL DESCRIPTION FIXED FIELD--GENERAL INFORMATION
fixed length control field cr nn 008mamaa
008 - FIXED-LENGTH DATA ELEMENTS--GENERAL INFORMATION
fixed length control field 110606s2011 ne | s |||| 0|eng d
020 ## - INTERNATIONAL STANDARD BOOK NUMBER
International Standard Book Number 9789400716469
978-94-007-1646-9
082 04 - DEWEY DECIMAL CLASSIFICATION NUMBER
Classification number 629.8
Edition number 23
264 #1 -
-- Dordrecht :
-- Springer Netherlands,
-- 2011.
912 ## -
-- ZDB-2-ENG
100 1# - MAIN ENTRY--PERSONAL NAME
Personal name Yan, Liang.
Relator term author.
245 10 - IMMEDIATE SOURCE OF ACQUISITION NOTE
Title Design, Modeling and Experiments of 3-DOF Electromagnetic Spherical Actuators
Medium [electronic resource] /
Statement of responsibility, etc by Liang Yan, I-Ming Chen, Chee Kian Lim, Guilin Yang, Kok-Meng Lee.
300 ## - PHYSICAL DESCRIPTION
Extent XXII, 166p. 120 illus., 58 illus. in color.
Other physical details online resource.
440 1# - SERIES STATEMENT/ADDED ENTRY--TITLE
Title Mechanisms and Machine Science,
International Standard Serial Number 2211-0984 ;
Volume number/sequential designation 4
505 0# - FORMATTED CONTENTS NOTE
Formatted contents note List of Figures -- List of Tables -- 1 Introduction -- 1.1 Background and Motivation -- 1.2 The State of the -- 1.3 Objective and Scope of the Study -- 1.4 Book Organization -- References -- 2 Magnetic Field Modeling -- 2.1 Introduction -- 2.2 Configuration of Rotor Poles -- 2.3 Magnetic Scalar Potential -- 2.3.1 Relations Between H and B for Three Regions -- 2.3.2 Laplace’s Equations for Three Regions -- 2.3.3 General Solution of Laplace’s Equation -- 2.4 Spherical Harmonic Expansion of M0r -- 2.5 Boundary Conditions -- 2.5.1 Boundary Condition A or Far Field Boundary Condition (BIrjr!¥ = 0, BIq jr!¥ = 0 and BIf jr!¥ = 0) -- 2.5.2 Boundary Condition B (BIrjr=Rr = BIIrjr=Rr ) -- 2.5.3 Boundary Condition C (HIf jr=Rr = HIIf jr=Rr and  HIq jr=Rr = HIIq jr=Rr ) -- 2.5.4 Finite Boundary Condition D at r = 0 (BIIIrjr=0 6= ¥, BIIIq jr=0 6= ¥ and BIIIf jr=0 6= ¥) -- 2.5.5 Boundary Condition E (BIIrjr=Rb = BIIIrjr=Rb ) -- 2.5.6 Boundary Condition F (HIIf jr=Rb = HIIIf jr=Rb and HIIq jr=Rb = HIIIq jr=Rb ) -- 2.5.7 Solution of Coefficients x mnI and kmnI -- 2.6 Solutions of Scalar Potential and Flux Density -- 2.7 Simplification of Magnetic Field Model -- 2.8 Summary -- References -- 3 Torque Modeling -- 3.1 Introduction -- 3.2 Formulation of Actuator Torque -- 3.2.1 Torque Generating Component of Flux Density -- 3.2.2 Torque Model for a Single Coil -- 3.2.3 Torque Model for Complete Set of Coils -- 3.2.4 Orientation Dependance of Torque Model -- 3.3 Solution of Inverse Electromagnetics -- 3.3.1 Nonsingularity of the Workspace -- 3.3.2 Minimum Right-inverse Solution of Electromagnetics -- 3.4 Summary -- References -- 4 Prototype Development -- 4.1 Introduction -- 4.1.1 Prototype of PM Spherical Actuator -- 4.1.2 Equations for Actuator Design -- 4.2 Rotor Pole Design -- 4.2.1 Longitudinal Angle a versus a -- 4.2.2 Latitudinal Angle b versus c -- 4.2.3 Rotor Radius Rr versus d4 -- 4.2.4 Rotor Core Radius Rb versus d4 -- 4.2.5 Relative Permeability mr versus d4 -- 4.2.6 Result of PM Pole Design -- 4.3 Coil Pole Design -- 4.3.1 Geometric Parameters of Coil -- 4.3.2 Increase Number of Winding Turns -- 4.3.3 Material of Coil Frame -- 4.4 Stator -- 4.5 Spherical Bearing -- 4.6 Summary -- References -- 5 Experimental Investigation -- 5.1 Measurement of PM Rotor Magnetic Field -- 5.1.1 Flux Density Measurement Apparatus -- 5.1.2 Flux Density Data Processing -- 5.1.3 Visualization and Analysis of Experimental Result -- 5.2 Measurement of Actuator Torque Output -- 5.2.1 Experiment on Torque Generated by a Single Coil -- 5.2.2 Experiment on Torque Generated by Multiple Coils -- 5.3 Summary -- References -- 6 Three Degree-of-freedom Optical Orientation Measurement -- 6.1 Introduction -- 6.2 Operating Principle -- 6.3 Algorithm for Computing Rotation Angles -- 6.3.1 Definition of Coordinate Systems -- 6.3.2 Calculation of Tilting Angles -- 6.3.3 Calculation of Spinning Angle -- 6.4 Experimental Measurement -- 6.4.1 Experimental Measurement on Apparatus 1 -- 6.4.2 Experimental Measurement on Apparatus 2 -- 6.5 Conclusion -- References -- 7 Conclusions -- 7.1 Accomplishments and Contributions -- 7.2 Recommendation for Future Research -- References -- Index.
520 ## - SUMMARY, ETC.
Summary, etc A spherical actuator is a novel electric device that can achieve 2/3-DOF rotational motions in a single joint with electric power input. It has advantages such as compact structure, low mass/moment of inertia, fast response and non-singularities within the workspace. It has promising applications in robotics, automobile, manufacturing, medicine and aerospace industry. This is the first monograph that introduces the research on spherical actuators systematically.  It broadens the scope of actuators from conventional single-axis to multi-axis, which will help both beginners and researchers to enhance their knowledge on electromagnetic actuators. Generic analytic modeling methods for magnetic field and torque output are developed, which can be applied to the development of other electromagnetic actuators. A parametric design methodology that allows fast analysis and design of spherical actuators for various applications is proposed. A novel non-contact high-precision 3-DOF spherical motion sensing methodology is developed and evaluated with experiments, which shows that it can achieve one order of magnitude higher precision than conventional methods. The technologies of nondimensionalization and normalization are introduced into magnetic field analysis the first time, and a benchmark database is established for the reference of other researches on spherical actuators.
650 #0 - SUBJECT ADDED ENTRY--TOPICAL TERM
Topical term or geographic name as entry element Engineering.
Topical term or geographic name as entry element Mechanical engineering.
Topical term or geographic name as entry element Computer engineering.
Topical term or geographic name as entry element Engineering.
Topical term or geographic name as entry element Control, Robotics, Mechatronics.
Topical term or geographic name as entry element Electrical Engineering.
Topical term or geographic name as entry element Mechanical Engineering.
700 1# - ADDED ENTRY--PERSONAL NAME
Personal name Chen, I-Ming.
Relator term author.
Personal name Lim, Chee Kian.
Relator term author.
Personal name Yang, Guilin.
Relator term author.
Personal name Lee, Kok-Meng.
Relator term author.
710 2# - ADDED ENTRY--CORPORATE NAME
Corporate name or jurisdiction name as entry element SpringerLink (Online service)
773 0# - HOST ITEM ENTRY
Title Springer eBooks
776 08 - ADDITIONAL PHYSICAL FORM ENTRY
Display text Printed edition:
International Standard Book Number 9789400716452
856 40 - ELECTRONIC LOCATION AND ACCESS
Uniform Resource Identifier http://dx.doi.org/10.1007/978-94-007-1646-9
942 ## - ADDED ENTRY ELEMENTS (KOHA)
Source of classification or shelving scheme
Item type E-Book
Copies
Price effective from Permanent location Date last seen Not for loan Date acquired Source of classification or shelving scheme Koha item type Damaged status Lost status Withdrawn status Current location Full call number
2014-04-03AUM Main Library2014-04-03 2014-04-03 E-Book   AUM Main Library629.8
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