EXPERIMENTS IN THE COMMUTATION AND MOTION PLANNING OF A SPHERICAL STEPPER MOTOR

Proceedings of the ASME Design Engineering Technical Conference

Volumn 7A, Issue , 2000, Pages 595-601

  Stein, David ^a   Chirikjian, Gregory S ^a  

^a Johns Hopkins University   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

MOTION PLANNING; SPHERES; STEPPING MOTORS;

MOTION-PLANNING; ROTATING BALLS; SMALL AREA; SPHERICAL STEPPER MOTOR;

STATORS;

EID: 9244231706     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1115/DETC2000/MECH-14115     Document Type: Conference Paper

References (16)

1. Chirikjian, G.S., Stein, D., "Kinematic Design and Commutation of a Spherical Stepper Motor, " IEEE/ASME Transactions on Mechatronics, Vol. 4, No. 4, December 1999, pp.342-353.
2. Bederson, B.B., Wallace, R.S., Schwartz, E.L., "A Miniature Pan-Tilt Actuator: The Spherical Pointing Motor, " IEEE Trans, on Robotics and Automation, Vol. 10, No. 3, June 1994, pp. 298-308.
3. Donald, B.R., Jennings, J., Rus, D., "Information Invariants for Distributed Manipulation, " International Journal of Robotics Research v. 16 n. 5 Oct 1997, pp. 073-702.
4. Luntz, J., Messner, W., Choset, H., "Parcel Manipulation and Dynamics with a Distributed Actuator Array: The Virtual Vehicle, " Proc. 1997 IEEE International Conference on Robotics and Automation, 1997.
5. Williams, F., Laithwaite, East ham, G.F., "Development and Design of Spherical Induction Motors, " Proc. of the IEEE, pp. 471-484, Dec. 1959.
6. K. Davey, G. Vachtsevanos, "The Analysis of Fields and Torques in a Spherical Induction Motor, " IEEE Trans. Magn., vol. MAG-23, Mar. 1987.
7. Kaneko, Y. Yamada, I., Itao, K., A Spherical DC Servo Motor with Three Degrees-of-Freedom, " ASME Dynamic Systems and Controls Division, Vol. 11, pp. 398-402, 1988.
8. Lee, K.-M., Kwan, C.-K., "Design Concept Development of a Spherical Stepper for Robotic Applications, IEEE Trans, on Robotics and Automation, Vol. 7, No. 1, Feb. 1991, pp. 175-181.
9. Roth, R.B., Lee, K.-M., "Design Optimization of a Three Degrees-of-Freedom Variable-Reluctance Spherical Wrist Motor, " ASME J. Engineering for Industry, Vol. 117, August 1995, pp. 378-388.
10. Zhou, Z., Lee, K.-M., "Real-time Motion Control of a Multi-degree-of-freedom Variable Reluctance Spherical Motor, " Proc. 1996 IEEE Int. Conf. on Robotics and Automation, Minneapolis, Minnesota, April 1996, pp. 2859-2864.
11. Pei, J., "Methodology of Design and Analysis of Variable-Reluctance Spherical Motors, " Ph.D Dissertation, Dept. of Mechanical Engineering, Georgia Inst, of Technology, 1990.
12. Toyama, S., Sugitani, S., Zhang, G., Miyatani, Y., Nakamura, K., "Multi degree of freedom Spherical Ultrasonic Motor, " Proc. 1995 IEEE Int. Conf. on Robotics and Automation, Nagoya, Japan, pp. 2935-2940.
13. Toyama, S., Zhang, G., Miyoshi, O., "Development of New Generation Spherical Ultrasonic Motor, " Proc. 1996 IEEE Int. Conf. on Robotics and Automation, Minneapolis, Minnesota, April 1996, pp. 2871-2876.
14. Hollis, R.L., Salcudean, S.E., Allan, A.P., "A Six- Degree-of-Freedom Magnetically Levitated Variable Compliance Fine-Motion Wrist: Design, Modeling, Control, " IEEE Trans. Rob. and Aut. Vol. 7, No. 1, pp. 320-332, June 1991.
15. McCarthy, J.M., Introduction to Theoretical Kinematics, MIT Press, 1990.
16. Pisacane, V.L., Moore, R.C., Fundamentals of Space Systems, Oxford University Press, 1994.