An Analytic Analysis of the Multi-Degree-of-Freedom Actuator

This paper discusses the analysis and simulation method and the test method for a two-degree-of-freedom (2-DOF) actuator torque. The previous studies on the analysis of 2-DOF motor's tilting torque were carried out only by finite element method (FEM), not by analytic method. This paper describes the operating principles of and the processes of inducing a tilting torque and a holding torque both of which exist only in special purpose electric machines. This allowed us to establish a design process. By overcoming the limits of the 3-D FEM, this paper introduced the 2-D model analysis by considering a real coil shape. Finally, this paper manufactured and tested the 2-DOF actuator to verify the introduced analytic analysis method.