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This paper proposes a multiple degree-of-freedom (3-DOF) spherical actuator with novel three-dimensional (3D) pole patterns. Compared with conventional 2D pole patterns, the 3D pole patterns can significantly increase the magnetic flux density in winding areas, which in turn helps to improve the force/torque output performance of the system. A design(More)
Hydraulic servomechanism is the typical mechanical/hydraulic double-dynamics coupling system with the high stiffness control and mismatched uncertainties input problems, which hinder direct applications of many advanced control approaches in the hydraulic servo fields. In this paper, by introducing the singular value perturbation theory, the original(More)
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