{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T04:27:39Z","timestamp":1760243259381,"version":"build-2065373602"},"reference-count":11,"publisher":"MDPI AG","issue":"6","license":[{"start":{"date-parts":[[2014,6,10]],"date-time":"2014-06-10T00:00:00Z","timestamp":1402358400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/3.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>We have been developing electromagnetic spherical actuators capable of  three-degree-of-freedom rotation. However, these actuators require complex control to realize simultaneous triaxial drive, because rotation around one axis interferes with rotation around another. In this paper, we propose a new three-degree-of-freedom actuator where  3-axes rotation can be controlled easily. The basic structure and the operating principle of the actuator are described. Then the torque characteristics and the dynamic characteristics are computed by employing 3D-FEM and the effectiveness of this actuator is clarified. Finally, the experimental results using the prototype of the actuator are shown to verify the dynamic performance.<\/jats:p>","DOI":"10.3390\/s140610072","type":"journal-article","created":{"date-parts":[[2014,6,10]],"date-time":"2014-06-10T11:50:51Z","timestamp":1402401051000},"page":"10072-10080","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":6,"title":["Characteristics Verification of an Independently Controllable Electromagnetic Spherical Motor"],"prefix":"10.3390","volume":"14","author":[{"given":"Shuhei","family":"Maeda","sequence":"first","affiliation":[{"name":"Department of Adaptive Machine Systems, Graduate School of Engineering, Osaka University,  2-1 Yamadaoka Suita, Osaka 565-0871, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Katsuhiro","family":"Hirata","sequence":"additional","affiliation":[{"name":"Department of Adaptive Machine Systems, Graduate School of Engineering, Osaka University,  2-1 Yamadaoka Suita, Osaka 565-0871, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Noboru","family":"Niguchi","sequence":"additional","affiliation":[{"name":"Department of Adaptive Machine Systems, Graduate School of Engineering, Osaka University,  2-1 Yamadaoka Suita, Osaka 565-0871, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2014,6,10]]},"reference":[{"key":"ref_1","unstructured":"Investigating, R.D. (2008). Committee on Systematize technology of multi degrees of freedom motors. Systematize technology of multi degrees of freedom motors. Tech. Rep. IEE J., 1\u201347."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"2334","DOI":"10.1109\/TUFFC.2010.1694","article-title":"Stator design of a new type of spherical piezoelectric motor","volume":"57","author":"Ting","year":"2010","journal-title":"IEEE Trans. Ultrason. Ferroelectr. Freq. Control"},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"239","DOI":"10.1109\/TMECH.2008.918573","article-title":"Design and Analysis of a Permanent Magnet Spherical Actuator","volume":"13","author":"Yan","year":"2008","journal-title":"IEEE ASME Trans. Mechatron."},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"2015","DOI":"10.1109\/TMAG.2009.2012390","article-title":"Research on Torque Calculation Method of Permanent-Magnet Spherical Motor Based on the Finite-Element Method","volume":"45","author":"Xia","year":"2009","journal-title":"IEEE Trans. Magn."},{"key":"ref_5","first-page":"986","article-title":"Analysis of Pole Configurations of Permanent-Magnet Spherical Actuators","volume":"15","author":"Yan","year":"2010","journal-title":"IEEE ASME Trans. Mechatron."},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"46","DOI":"10.1109\/TMECH.2008.2010935","article-title":"Dipole Models for Forward\/Inverse Torque Computation of a Spherical Motor","volume":"14","author":"Lee","year":"2009","journal-title":"IEEE ASME Trans. Mechatron."},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"1640","DOI":"10.1109\/TIE.2008.2009526","article-title":"Electromechanical Modeling of a Permanent-Magnet Spherical Actuator Based on Magnetic-Dipole-Moment Principle","volume":"56","author":"Lim","year":"2009","journal-title":"IEEE Trans. Ind. Electron."},{"key":"ref_8","doi-asserted-by":"crossref","unstructured":"Yano, T. (2010, January 6\u20138). Proposal of a truncated octahedron-dodecahedron based spherical stepping motor. Rome, Italy.","DOI":"10.1109\/ICELMACH.2010.5607903"},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"994","DOI":"10.1108\/03321641011044415","article-title":"Proposal of electromagnetic spherical actuator with 3-DOF","volume":"29","author":"Ikejiri","year":"2010","journal-title":"Int. J. COMPEL"},{"key":"ref_10","doi-asserted-by":"crossref","unstructured":"Tong, M., Hirata, K., and Maeda, S. (2010, January 9\u201312). Dynamic Analysis of 3-DOF Actuator Employing 3-D Finite Element Method. Chicago, IL, USA.","DOI":"10.1541\/ieejias.131.1240"},{"key":"ref_11","doi-asserted-by":"crossref","unstructured":"Maeda, S., Hirata, K., Ikejiri, S., and Tong, M. (2010, January 6\u20138). Feedback Control of Electromagnetic Spherical Actuator with Three-Degree-of-Freedom. Rome, Italy.","DOI":"10.1109\/ICELMACH.2010.5608130"}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/14\/6\/10072\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T21:12:16Z","timestamp":1760217136000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/14\/6\/10072"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2014,6,10]]},"references-count":11,"journal-issue":{"issue":"6","published-online":{"date-parts":[[2014,6]]}},"alternative-id":["s140610072"],"URL":"https:\/\/doi.org\/10.3390\/s140610072","relation":{},"ISSN":["1424-8220"],"issn-type":[{"type":"electronic","value":"1424-8220"}],"subject":[],"published":{"date-parts":[[2014,6,10]]}}}