Multi-Degree-of-Freedom (Multi-DOF) actuating systems are usually composed of several single-DOF motors, which results in large, heavy and complicated structures. In order to solve these problems, various multi-DOF spherical actuators have been actively studied. However, a large number of current phases are required in the spherical actuator. In this paper, in order to reduce the number of current phases, a 3-DOF spherical actuator with auxiliary poles which is driven using 5-phase currents is proposed. Finally, the torque characteristics of the proposed actuator are evaluated through 3-D finite element analysis.

中文翻译：

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带有辅助极的5相3自由度球形执行器的建议

多自由度（Multi-DOF）致动系统通常由多个单自由度电机组成，这导致结构庞大，笨重且复杂。为了解决这些问题，已经积极研究了各种多自由度球形致动器。然而，球形致动器中需要大量的电流相位。为了减少电流相数，提出了一种利用五相电流驱动的带有辅助极的三自由度球形致动器。最后，通过3-D有限元分析来评估所提出的执行器的扭矩特性。