Topology comparison of slotless permanent magnet semispherical actuators

B. Ninhuijs, van, J.W. Jansen, B.L.J. Gysen, E.A. Lomonova

Research output: Contribution to journalArticleAcademicpeer-review

21 Citations (Scopus)
170 Downloads (Pure)


This paper presents a comparison of several three-degrees-of-freedom (DoFs) semispherical actuator topologies, which can mimic a shoulder joint of an actuated support system. A semianalytical model is applied to determine the torque performance as function of the position. Hence, the current distribution through the coils with minimized ohmic losses can be determined. The performed topology comparison is based on the average power dissipation and on a set of torque and range of motion requirements.
Original languageEnglish
Article number8206104
Pages (from-to)8206104-1/4
Number of pages4
JournalIEEE Transactions on Magnetics
Issue number11
Publication statusPublished - 2014


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