Simulation and analysis of a novel PM spherical 3-DOF actuator with E-shaped stator and blade-shaped rotor structure

In this paper, a new structure for the stator and the rotor of a 3-Dergree Of Freedom (3-DOF) actuator has been presented. According to the different applications defined for these actuators, increasing the rotation angle, improving the efficiency and increasing the output torque and also decreasing the volume and mass of the model is one of the most important challenges. In blade-shaped rotors, unlike common structures, laminating the ferromagnetic core is possible. Laminating will decrease switching losses and increase efficiency in higher frequencies. Rotor cores are placed as blades around the hypothetical cylindrical axis so that their combination forms the final spherical shape. Creating a 3d structure this way, will decrease the final weight of the actuator. In the stator a rotary structure of semi E-shaped cores are placed next to each other to form the hemisphere bed for the rotor movement. The designed actuator with the proposed structure, has decreased weight and smaller losses because of the laminating process and the removal of the integration of the stator and the rotor cores. The results of the simulations show that the rotor rotation angle and the effective output torque of the actuator have improved relative to other similar structures.