This award supports research in high-performance precision motion control. One of the focuses is to establish the theoretical basis for the creation of an electromechanical spherical stepper capable of three degrees of orientation motion in a single joint. The ball-joint-like motor is based on the hybrid permanent magnet and variable reluctance principle and is characterized by simplicity of structure, compact design, absence of singularities (except at the boundary of the workspace, and lack of unbalanced rotor body forces. The proposed spherical stepper has significant applications such as high-speed plasma and laser cutting where the end-effector is required to orient quickly,l continuously, and isotropically in all directions. The development of the stepper presents a challenge in design, modeling, control and implementation. The initial support of the Presidential Young Investigator Award will permit the spherical stepper research to include experimental investigation and prototype development and evaluation.
