Multi-Axis Electric Stepper Motor

Groenhuis, Vincent; Rolff, Gijs; Bosman, Koen; Abelmann, Léon

doi:10.1109/lra.2021.3097077

Cited by 9 publications

(3 citation statements)

References 10 publications

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“…The authors of this paper earlier developed a three-axis stepper motor with shared stator [12]. It uses seven wires to actuate three rotors independently with a common set of stator coils.…”

Section: A State Of Artmentioning

confidence: 99%

Absolute Position Detection in 7-Phase Sensorless Electric Stepper Motor

Groenhuis

Rolff²,

Bosman³

et al. 2022

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Absolute position detection in sensorless electric stepper motors potentially allows for higher space efficiency, improved shock resistance, simplified installation, reduced number of parts and lowered cost.A prototype is demonstrated measuring 42 × 42 × 34 mm 3 with seven coils arranged in a star configuration. The rotor is 25.8 × 12.5 mm 2 and has 51 teeth which are irregularly spaced. At the driver side, the coil currents are measured during motion in order to reconstruct the absolute position of the motor. Calibration and smoothing techniques are used to reduce systematic and stochastic measurement errors, respectively.The motor is able to detect and correct its position after externally-induced stalls at the tested motor speeds from 40 rpm to 108 rpm. The holding torque is 0.23 N m at an armature current of 1 A; on average the torque is 7% lower than that of a reference bipolar stepper motor with the same dimensions.The results show that dynamic position sensing and correction are possible for a range of velocities, but not at standstill. The driver requires seven current sensors and sufficient computational power, and proper calibration of motor intrinsics is required beforehand. The presented technology could make existing 3-D printers and other machines with open-loop stepper motors more robust and increase the range of operating speeds and accelerations, without the adverse side-effects of increased complexity and cost associated with dedicated position sensors.

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Section: A State Of Artmentioning

confidence: 99%

Absolute Position Detection in 7-Phase Sensorless Electric Stepper Motor

Groenhuis

Rolff²,

Bosman³

et al. 2022

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Self Cite

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“…Huang et al [7] developed a robotic arm with a spherical joint module, a rotary joint module, and a hybrid serial-parallel electric drive system. Groenhuis et al [8] developed a multi-axis stepping motor capable of multiple DOF actuation to enable the coaxial driving of three arm joints. Korayem et al [9] used robotic chains to form a closed-loop for application in cooperative robots, which can break through the limitations of frictional contact between the end effector and object.…”

Section: Introductionmentioning

confidence: 99%

Mechanism Development and Pulse-Width Modulation Advanced Controller Design of Low Torque Manipulator

Wu,

Lee,

Yan

et al. 2023

IEEE Access

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In most conventional robotic arms, the motors are installed on the rotating shafts within the arm, which means that the shape and size of the motors must be considered in the design of the arm, while the weight of the motors increases the torque on the supporting joints generated during arm movements. This paper presents a dual-axis robotic arm with the motors installed on the base of the device to overcome these issues. Movement around the first axis is driven by a gear, while that of the second axis is driven by a belt. Trajectory tracking is controlled by an adaptive sliding mode controller (ASMC). In simulations and experiments, the proposed robotic arm outperformed arms using PID control and sliding mode control (SMC) in terms of tracking accuracy and stability.INDEX TERMS Robotic arm, low torque, adaptive sliding mode control, tracking error.

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“…Hence, the motor body parameters become the main goal of analyzing and optimizing the motor performance. There have been many studies using 3D finite element simulation [13][14][15][16][17][18]. Through finite element analysis, the influences of different permanent magnet thickness combinations on the working point, air gap flux density, noload and load characteristics of the magnet are compared.…”

Section: Introductionmentioning

confidence: 99%

A Study on the Detent Torque and Holding Torque of a Micro-Claw Pole Stepper Motor

Sun

Wang

et al. 2022

Micromachines

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The micro-claw pole stepper motor is widely used in the field of camera modules and VR focusing. The influence of torque ripple on positioning accuracy becomes more obvious with a decrease in motor volume. In order to reduce the torque ripple of the micro-claw stepper motor and increase the load capacity of the motor, the torque of the motor is simulated by using finite element software. Firstly, the influences of four parameters, namely air gap, magnet thickness, claw thickness and claw height, on the detent torque and holding torque of the claw permanent magnet stepper motor are obtained through the Taguchi experiment. The Signal-to-noise ratio (SNR) of each factor to the response was calculated and the degree of influence of the four parameters on the detent torque and holding torque of the micro-claw pole permanent magnet stepper motor was determined. Then, the optimal value of each factor to reduce the detent torque and increase the holding torque was obtained through optimization analysis. Finally, experiments were carried out to test the holding torque of the motor, and the accuracy of the results was verified by comparing the test values with the simulation values. According to the analysis of the paper, the response delta of air gap to detent torque is the largest, reaching 5.99, and that to holding torque is 0.73. The response delta of the magnet thickness to the detent torque is 5.87, and the response delta to the holding torque is 1.52. The optimized parameters obtained by optimization analysis reduce the detent torque of the motor by 26.74% and increase the holding torque by 18.35%. It is found that air gap and permanent magnet thickness have the greatest influence on the detent torque and holding torque of a micro-claw permanent magnet stepper motor, followed by claw thickness and claw height. Among them, the air gap has more influence on the detent torque than on the holding torque, and the thickness of the permanent magnet has more influence on the holding torque than on the detent torque.

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Multi-Axis Electric Stepper Motor

Cited by 9 publications

References 10 publications

Absolute Position Detection in 7-Phase Sensorless Electric Stepper Motor

Absolute Position Detection in 7-Phase Sensorless Electric Stepper Motor

Mechanism Development and Pulse-Width Modulation Advanced Controller Design of Low Torque Manipulator

A Study on the Detent Torque and Holding Torque of a Micro-Claw Pole Stepper Motor

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