spherical motor

The Present Research and Development Situation of Permanent Magnet Spherical Motor of Multi-Dimensions

永磁多维球形电动机的研究与发展现状

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Considering the operation characteristics of the PM spherical motor, both the hardware design and the software design are conducted to achieve the spinning motion of the PM spherical motor.

针对球形电动机的运行特点，进行了硬件电路设计和软件程序设计，实现了球形电动机的连续自转运动。

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The researches on the aspects of the magnetic field are mainly confined to the static characteristics of the PM spherical motor, which cannot display a complete picture of the performance of the PM spherical motor. It restricts the research progress of spherical motor control greatly.

关于磁场方面的研究主要局限于永磁球形电动机静态特性方面的研究，无法全面展现永磁球形电动机的性能，这也大大制约了球形电动机控制方面的研究进展。

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Calculation and Analysis on Configuration Parameters and Torque Characteristics of a Novel Spherical Stepper Motor

新型永磁球形步进电动机结构参数及转矩特性的计算与分析

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Widespread application of the robot and manipulator has necessitated the development of the motors which are capable of making multi-DOF motion. The PM spherical motor becomes a new research direction of the PM motor.

随着机器人等高新技术的发展，能够实现三自由度运动的永磁球形电动机成为了研究热点。

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A design concept of a Halbach array PM spherical motor is proposed. The fundamental principle of the Halbach array PM spherical motor is demonstrated.

本论文提出了一种Halbach阵列永磁球形电动机，给出了其基本结构和工作原理。

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MATLAB simulation shows that the quaternion makes the calculation and control of spherical motor simple, motor rotates along the given trajectory, and it is an efficient method.

MATLAB仿真表明，利用四元数的数学工具简化了球形电机的计算与控制过程，可以使电机按预定轨迹转动，是一种行之有效的方法。

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A motion control algorithm based on the weighted graph is presented, by which the path planning can be completed and the spherical motor can be controlled to achieve the expected trajectory.

同时提出一种基于加权无向图的运动控制算法，通过对路径进行搜索，实现了对电机通电状态的有效控制，达到了沿着期望运动轨迹运动的目的。

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3-D Finite Element Torque Analysis of a Halbach Array PM Spherical Motor

Halbach阵列永磁球形电动机转矩的三维有限元分析

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A three-phase bridge outside the circuit is built in finite element method. The stator coils are energized by a certain strategy. The starting performance of the rotation speed and rotation torque of the PM spherical motor is studied.

在有限元里，搭建了三相桥式外电路对定子线圈进行换相通电仿真得到了永磁球形电动机的自转转速及自转转矩的启动性能。

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With the development of industry technology, the spherical motor which can achieve three degrees of freedom motion has attracted many scholars attention.

随着现代工业技术的不断发展，能够在空间内实现三自由度运动的球形电机受到国内外众多学者的广泛关注。

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Attachment systems can sometimes be heavier for a spherical motor than for a cylindrical one.

球形发动机的连接系统有时要比圆柱形发动机的重些。

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Static Characteristics and Finite Element Analysis of Permanent-magnet Spherical Motor

永磁球形电动机静态特性及有限元分析

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This spherical motor, first developed in China, satisfactorily meets the requirements of design.

试制结果达到了设计的要求，成为我国第一台研制成功的多自由度球形电机。

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Calculation of Electromagnetic Fields and Torques in Spherical Motor

球形电动机磁场和电磁转矩计算

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The position detection of the spherical motor rotors, as an indispensable feedback control link, must be resolved satisfactorily, and its resolution can affect the control accuracy of the system directly and play an important role in the control system of the motor.

球形电机转子的位置检测作为电机不可缺少的反馈控制环节，其位置检测的分辨率直接影响到系统的控制精度，在电机控制系统中起到了至关重要的作用。

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The model shows that the electro-magnetic coupling relationship inside the two-pole PM spherical motor is simple and that the torque of the motor is easy to control.

所得结果表明，双极永磁球形电动机内部电磁关系简单，易于实现对转子位置的控制。

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Detecting Rotor Orientation of Permanent Magnetic Spherical Motor Based on Mutative Scale Chaos Search

基于变尺度混沌搜索的永磁球形电机的位置检测

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The simulation model of the PM spherical motor is established. Based on the model, the electromagnetic torque characteristics and reluctance torque characteristics of the motor are derived.

本论文针对一种新型永磁球形电动机，建立了电机的三维仿真模型，计算得到了球形电动机的电磁转矩特性曲线和磁阻转矩特性曲线。

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Development of three-dimensional spherical motor

三自由度球形电机的发展

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Noncontact orientation sensing is very important for the close-loop control of a 3-DOF spherical motor.

非接触位移测量对实现球电机的闭环运动控制十分重要。

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In recent years, the researches on the detection method for DC permanent magnet spherical motor have attached a wide attention, with causes resting with its particular spherical structure which can be positioned in any spatial point.

近年来，直流永磁球形电机（Detection Method For DC Permanent Magnet Spherical Motor）的研究受到广泛的重视，究其原因在于其独特的球形结构可以在空间中任意点处进行定位。

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Calculation and Analysis of Torque Characteristics of a Permanent Magnet Spherical Motor

永磁球形电动机转矩特性的数值计算与分析

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Novel Position Detection Method for Permanent Magnet Spherical Stepper Motor

一种新型永磁球形步进电动机位置检测研究

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Orientation sensing of 3-DOF spherical motor

三自由度球形电机位置测量研究

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Spherical Motor and Its Motion Path Control

球形电机及其运动轨迹控制

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Research on Position Detection of Permanent Magnet Spherical Stepper Motor Based on Machine Vision

基于机器视觉的永磁球形电动机位置检测方法研究

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Based on the sensing principle of optical sensor with microprocessor, a sensing principle to sense 3-DOF orientation displacements for spherical motor by utilizing 2-DOF optical sensors was illustrated, an assembly method of optical sensors was proposed, and an algorithm for solving the orientation displacements was presented.

对基于微处理器的光学传感器的测量原理作了分析，阐述了利用二自由度光学传感器测量球电机三自由度位移的测量原理，提出了传感器的安装和位移计算方法。

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Development and Application of Spherical Ultrasonic Motor with Multi-degree of Freedom

多自由度球形超声电机的发展和应用

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The research on the PM spherical motor, a pioneering study and advanced subject, is in theory exploration stage at present. The main research contents are limited on magnetic model, kinematics and dynamics analysis.

目前，永磁球形电动机还处于理论探索阶段，主要研究内容局限为电磁模型、运动学模型及动力学模型的理论推导与计算。

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