Design and Control of Multiple Degree of Freedom Spherical Motor
Start Date
15-4-2021 11:00 AM
End Date
15-4-2021 12:00 PM
Student's Major
Mechanical and Civil Engineering
Student's College
Science, Engineering and Technology
Mentor's Name
Min Li
Mentor's Department
Mechanical and Civil Engineering
Mentor's College
Science, Engineering and Technology
Description
The need for multiple degree of freedom motion is required for many applications in industrial automation such as robotic assembly arms, motion control for work surfaces, and many more increasing applications in the general field of robotics. Traditionally, the use of multiple single degree of freedom actuators was used to achieve this, yet this leads to an expensive, bulky and mechanically complex system. Thus, the design of single actuators with multiple degrees of freedom is attracting more and more attention for these applications. One such actuator is a Permanent Magnet Spherical Motor, or PMSM which features a ball joint like structure with a rotor with permanent magnets (PMs) surrounding a stator with electromagnets (EMs). In this research, the design, assembly and control of a multiple degree of freedom PMSM is explored and carried out, and various problems with current designs are improved upon.
Design and Control of Multiple Degree of Freedom Spherical Motor
The need for multiple degree of freedom motion is required for many applications in industrial automation such as robotic assembly arms, motion control for work surfaces, and many more increasing applications in the general field of robotics. Traditionally, the use of multiple single degree of freedom actuators was used to achieve this, yet this leads to an expensive, bulky and mechanically complex system. Thus, the design of single actuators with multiple degrees of freedom is attracting more and more attention for these applications. One such actuator is a Permanent Magnet Spherical Motor, or PMSM which features a ball joint like structure with a rotor with permanent magnets (PMs) surrounding a stator with electromagnets (EMs). In this research, the design, assembly and control of a multiple degree of freedom PMSM is explored and carried out, and various problems with current designs are improved upon.
