No. 1081
	Multi degrees of freedom motors and their element technologies
	Investigating R&D Committee on Multi degrees of freedom motors and their element technologies
	The multi degrees of freedom motor which can achieve the movement of two or more degrees of freedom by one configuration is expected to be applied to robot and industrial equipment, etc. where the complex movement is needed. As the precise positioning mechanism in the field of industrial equipment, a lot of practical cases are reported about surface-motor which moves freely in two dimension plane. Spherical motor which can achieve movement same as man's eyeball and elbow has been being ardently researched in a lot of organizations. However, the practical use case with spherical motor is still few. In the application of these multi degrees of freedom motors, the movement is the most important output. Therefore, to realize the multi degrees of freedom motor, not only the design analysis of the motor but also the integration of element technologies such as control and drive, supporting guides, and sensors is indispensable. This report pays attention to peculiar element technologies to the multi degrees of freedom motor, and examines the research and development situation and the issue of the element technologies. Element technologies taken up here are the magnetic circuit design analysis of the multi degrees of freedom motor, the displacement detection of multi degrees of freedom, the magnetic materials, the support construction, the control and drive technology, and the evaluation technology, etc. The research and development situation of these technologies is introduced referring to a lot of cases. Moreover, a lot of development cases with electromagnetic motors, ultrasonic motors, and new principle actuator are introduced about applications of the multi degrees of freedom motor, and the trends of the research and development are considered.
	©2007. The Institute of Electrical Engineers of Japan