Development of a high performance direct-drive joint

Aghili, Farhad; Buehler, M.; Hollerbach, John M.

doi:10.1109/iros.2000.895289

Cited by 6 publications

(7 citation statements)

References 15 publications

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“…Fig. 9 illustrates the experimental setup which consists of the McGill/MIT Direct-Drive electric motor (Aghili et al, 2002b) mounted on the dynamometer, instrumented with our custom torque sensor described in Section 4, and coupled to a hydraulic rack and pinion rotary motor (Parker 113A129BME). The role of the hydraulic motor is to generate a random disturbance torques in order to measure the disturbance sensitivity of the servo controller.…”

Section: Resultsmentioning

confidence: 99%

Joint Torque Sensory in Robotics

Aghili¹

2006

Industrial Robotics: Programming, Simulation and Applications

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Section: Resultsmentioning

confidence: 99%

Joint Torque Sensory in Robotics

Aghili¹

2006

Industrial Robotics: Programming, Simulation and Applications

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“…Fig. 1 illustrates the design of the motor whose design goal is to solve the main problems with direct-drive electric motors: large size and weight of theses motors relative to their torque and torque ripple production [3], [11]. The motor is a three-phase synchronous device with axial air gap that optimizes torque-tomass ratio [3].…”

Section: A General Descriptionmentioning

confidence: 99%

“…Also assume that the elasticity of the housing is represented by its axial stiffness k hous . Then, the flexible housing may buckle [11] if…”

Section: Motor Housingmentioning

confidence: 99%

A Modular and High-Precision Motion Control System With an Integrated Motor

Aghili¹,

Hollerbach

Buehler

2007

IEEE/ASME Trans. Mechatron.

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Abstract-This paper describes the design and control of an integrated direct-drive joint suitable for applications that require a high-precision motion control system. The joint integrates a directdrive synchronous motor with axial air gap, a torque sensor, and a high-resolution position sensor. The key design aspects of the integrated joint, like the motor's armature, cooling system, motor housing, bearing arrangement, sensors, and power electronics are detailed. We also present a number of advanced implementations in motor torque control, optimal joint torque sensory feedback, and motion control using positive joint torque feedback. Experimental results illustrate an outstanding performance regarding thermal response, torque ripple, reference trajectory tracking, torque disturbance rejection, and joint stiffness.

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“…Existing work can be largely grouped into two distinct categories, each benefiting from the increased continuous torque production. The first category applies liquid cooling to direct drive robotic joints [15][16][17][18]. Drivetrains introduce cost, complexity, additional points of failure and can significantly reduce system efficiency (beyond 50% in some cases [19]).…”

Section: Introductionmentioning

confidence: 99%

Design and Comparative Analysis of a Retrofitted Liquid Cooling System for High-Power Actuators

Paine

Sentis

2015

Actuators

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This paper presents an in-depth system-level experimental analysis comparing air-cooled and liquid-cooled commercial off-the-shelf (COTS) electric motors. Typically, liquid-cooled electric motors are reserved for large, expensive, high-end applications where the design of the motor's electromagnetic components are closely coupled to its cooling system. By applying liquid cooling to a pre-existing motor design, this work helps bring the performance advantages of liquid cooling to smaller scale and lower cost applications. Prior work in this area gives little insight to designers of such systems. Conversely, this work aims to improve the understanding of liquid-cooled COTS motors by reporting empirically-observed factors of improvement for motor current, torque, output power and system efficiency. These measurements are obtained using a new liquid-cooled motor housing design that improves the ease of maintenance and component reuse compared to existing work. It is confirmed that datasheet motor thermal properties may serve as a reasonable guide for anticipating continuous torque performance, but may over-specify continuous power output. For the motor used in this test, continuous torque output is increased by a factor of 2.58, matching to within 9% of expected datasheet values. Continuous power output is increased by a factor of two with only 2.2% reduced efficiency compared to air-cooling.

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Development of a high performance direct-drive joint

Cited by 6 publications

References 15 publications

Joint Torque Sensory in Robotics

Joint Torque Sensory in Robotics

A Modular and High-Precision Motion Control System With an Integrated Motor

Design and Comparative Analysis of a Retrofitted Liquid Cooling System for High-Power Actuators

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