Multi-Axis Electric Stepper Motor
| Autor: | Koen Bosman, Stefano Stramigioli, Gijs Rolff, Leon Abelmann, Vincent Groenhuis |
|---|---|
| Přispěvatelé: | Robotics and Mechatronics, Digital Society Institute |
| Jazyk: | angličtina |
| Rok vydání: | 2021 |
| Předmět: |
Control and Optimization
Rotor (electric) Stator Computer science Mechanical Engineering Biomedical Engineering Computer Science Applications law.invention Human-Computer Interaction Mechanical system Artificial Intelligence Control and Systems Engineering Control theory law Torque Computer Vision and Pattern Recognition Stepper Coaxial Synchronous motor Robotic arm |
| Zdroj: | IEEE Robotics and automation letters, 6(4):9484841, 7201-7208. IEEE |
| ISSN: | 2377-3766 |
| DOI: | 10.1109/lra.2021.3097077 |
| Popis: | Multi-axis stepper motors offer a compact solution to actuate multiple degrees of freedom in a mechanical system by a single device. This research presents an electric stepper motor with three coaxial shafts driven by a single stator. The motor dimensions are 42 × 42 × 44 mm $^3$ (excluding output shafts), its mass is 0.326 kg and it includes three rotors of height 7 mm and different number of teeth. The maximum torque for one rotor at low speed and 1 A current is 0.10 N m, which is comparable to that of a conventional stepper motor with similar rotor size. When multiple rotors are driven simultaneously, then the total power has to be distributed over the three rotors, resulting in 42% lower torque on average. The maximum no-load speed is 4000 revolutions per minute. The coaxial output shaft configuration poses significant challenges but also unique opportunities in actuating multiple joints of a robotic system. In many applications, the mechanical design can be redesigned to make effective use of the multi-motor design. An example of a three-DOF robot arm is demonstrated that can be efficiently driven by the proposed motor. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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