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.

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Apr 15th, 11:00 AM Apr 15th, 12:00 PM

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.