Abstract:Multi-Degree-of-Freedom (Multi-DOF) actuating systems are composed of several single-DOF motors, which results in large, heavy and complicated structures. In order to solve these problems, various multi-DOF spherical actuators have been actively studied. Among them, a spherical actuator can generate torques in arbitrary positions and directions. However due to this, it is difficult to evaluate the torque characteristics at any position all over the movable range. In order to evaluate the spherical actuators, w… Show more
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