INFLUENCE OF ROTOR MAGNET MATERIAL AND STATOR WINDING GEOMETRY ON OUTPUT TORQUE IN SPHERICAL ACTUATOR

Classic electric motors are motors capable of moving in single-degree-of-freedom. It is necessary to use more than one classical motor in order to perform movement in multi-degree-of-freedom. In this case, it results in a reduction in total efficiency. Spherical actuators with multiple degrees of freedom may be preferred for performing multi-degree-of-freedom movements. In this study, 3D design of permanent magnet spherical actuator with high torque density has been realized as well as magnetostatic analysis by using finite element analysis. In order to achieve high torque at low volume, the rotor magnet material and the physical structure of stator winding have been designed optimally. As a result of the optimization studies, N50m type magnet has been preferred as the magnet