The McGill/MIT direct drive motor project

Author

Hollerbach, J. ; Hunter, I. ; Lang, J. ; Umans, S. ; Sepe, R. ; Vaaler, E. ; Garabieta, I.

Author_Institution

Biorobotics Lab., McGill Univ., Montreal, Que., Canada

fYear

1993

fDate

2-6 May 1993

Firstpage

611

Abstract

A direct drive electromagnetic motor and associated controller have been designed and constructed to improve upon the torque-to-mass ratio and torque accuracy of previous designs. The goals are a torque/mass of 10 N m/kg and a torque ripple of less than 1% at full-scale torque. The motor design is a 3-phase synchronous motor, with an axial airgap and identically wound armatures. Both armatures are water cooled to increase the allowable current density. A table-based microprocessor controller shapes the current profiles in the phases to correct for torque ripple

Keywords

computerised control; electric drives; synchronous motors; torque; velocity control; 3-phase synchronous motor; allowable current density; axial airgap; current profiles; direct drive electromagnetic motor; identically wound armatures; motor design; table-based microprocessor controller; torque accuracy; torque ripple; torque-to-mass ratio; DC motors; Friction; Gears; Gravity; Laboratories; Reluctance motors; Robots; Shape control; Synchronous motors; Torque control;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on

Conference_Location

Atlanta, GA

Print_ISBN

0-8186-3450-2

Type

conf

DOI

10.1109/ROBOT.1993.291891

Filename

291891