A simplified model of inverse kinematics of permanent magnet spherical motor

Li, Hongfeng; Chen, Xu; Li, Bin

doi:10.1109/icems.2019.8922030

Cited by 3 publications

(2 citation statements)

References 9 publications

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“…In fact, permanent magnet multi-degree of freedom motors can be regarded as a kind of current-driven multi-degree of freedom joints, and the direction of the system output axis can be adjusted by changing the current to realize the multi-degree of freedom control. Applying spherical electromagnetic joints to the drive of robot wrist joints can avoid nonlinear friction and improve the response speed, accuracy and stability of the joints [6].…”

Section: Introductionmentioning

confidence: 99%

Dynamics modeling of a new type of magnetically driven spherical wrist

Guo,

Zhang,

Zhao

2023

Ninth International Conference on Mechanical Engineering, Materials, and Automation Technology (MMEAT 2023)

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In order to meet the requirements of wrist flexibility with variable stiffness in unstructured environment, a permanent magnetic spherical robot joint wrist is proposed based on the fixed axis effect of magnetic field rotation, aiming at the existing problems of complex spherical Specifically, it is a kind of robot spherical wrist device that can realize sidesway and pitch rotation of two degrees of freedom through the radial magnetized permanent magnet built in the servo mechanism at the output end of the cross universal rotation magnetic field under the direct drive of the coaxial servo magnetic moment of the space universal rotation magnetic Due to the uniform rotation magnetic field drive, the magnetic field Due to the uniform rotation magnetic field drive, the magnetic field modeling and magnetic moment decoupling can be realized, It is expected to overcome the disadvantages It is expected to overcome the disadvantages of traditional mechanical wrist, such as complex transmission and nonlinear friction, and significantly improve the response sensitivity and In this paper, the dynamic equation is established, the dynamic characteristics are simulated, and the feasibility of the magnetic driving ball wrist scheme with rotating fixed axis effect is verified.

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Section: Introductionmentioning

confidence: 99%

Dynamics modeling of a new type of magnetically driven spherical wrist

Guo,

Zhang,

Zhao

2023

Ninth International Conference on Mechanical Engineering, Materials, and Automation Technology (MMEAT 2023)

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“…While AI shows promise, it may encounter limitations in certain scenarios, potentially leading to less-than-optimal results. As the field of spherical motor control advances, researchers strive to refine AI-driven strategies to overcome these obstacles, aiming for an improved control of the multi-degree-of-freedom capabilities of spherical motors [40][41][42][43][44][45][46][47][48][49][50][51].…”

Section: Introductionmentioning

confidence: 99%

Symmetric Nonlinear Feedback Control and Machine Learning for Sustainable Spherical Motor Operation

Hassan,

Beshr,

Beshr

et al. 2023

Symmetry

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This paper presents a comprehensive evaluation of a new control technique for the sphere motor system, aimed at achieving accurate tracking, robust and dispersion of vibrations. Control methods include the determination of a nonlinear model and the application of feedback linearization, followed by the optimization of the proportional derivative (PD) coefficients through the Adaptive Neuro-Fuzzy Inference System. In addition, the system’s reaction to harsh environments is managed using Long Short-Term Memory. In order to gain a deeper understanding, symmetrical environmental disturbances and trajectories are introduced during the testing phase. The results demonstrate the superior performance of the control strategy, with reduced vibrations, faster recovery and confirmed tracking accuracy. In addition, the control method shows its adaptability and reliability, as evidenced by the significant reduction in CO2 emissions compared to conventional PD control methods. The use of symmetric trajectories and visualizations further emphasizes the behavior of the system under symmetric conditions, strengthening the effectiveness and applicability of the control strategy in real-world scenarios. Overall, this study presents a promising solution for converting complex systems under different conditions and making them potentially applicable in various industrial contexts.

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