![]() Not only can the motor combine 3-DOF motion in a single joint, it has a large range of motion with no singularities in its workspace. Compared to conventional robotic manipulators that offer the same motion capabilities, the spherical motor possesses several advantages. One such actuator is the spherical motor. The need for such systems has motivated years of research in the development of unusual, yet high performance actuators that have the potential to realize multi-DOF motion in a single joint. ![]() For high precession trajectory planning and control, it is necessary to replace the actuator system made up of several single-DOF motors connected in series and/or parallel with a single multi-DOF actuator. A number of these systems also exhibit singularities in their workspaces, which makes it virtually impossible to obtain uniform, high-speed, and high-precision motion. Not only do such actuators tend to be large in size and mass, but they also have a decreased positioning accuracy due to mechanical deformation, friction and backlash of the gears and linkages. Currently, a significant number of the existing robotic actuators that can realize multi-DOF motion are constructed using gear and linkages to connect several single-DOF motors in series and/or parallel. Multi-degree-of-freedom (DOF) actuators are finding wide use in a number of Industries (such as aerospace, automotive industry and surgical robot).
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