Spherical Induction Motors for Mobile Robots

移动机器人用球形感应电机

• 批准号: 1102147
• 负责人: Ralph Hollis
• 金额: $ 37万
• 依托单位: Carnegie-Mellon University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2011
• 资助国家: 美国
• 起止时间: 2011-08-15 至 2015-12-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1102147&HistoricalAwards=false
• 关键词: Spherical; Induction; Motors; Mobile; Robots; Spherical; Induction; Motors; Mobile; Robots

Research Objectives and Approaches:The objective of this research is to create the first spherical induction motor with unlimited rotation and to characterize its performance, principally for use as a spherical robot wheel. The outcome offers reduced mechanical complexity and higher performance when compared with traditional mechanical methods. The approach concentrates on the inductance principle, depending heavily on material characterization, 3D magnetic simulation, solid modeling, electronic circuit design, and real-time software development, keeping in mind the primary application to dynamically stable single-wheel robots. Intellectual Merit:The research develops a spherical induction motor permitting direct torque generation and rotation about arbitrary axes with a minimum of mechanical friction or backlash. The results provide an exemplar for a new class of motor, permitting quantitative comparisons with more traditional solutions. The successful outcome simplifies mechanics, improves performance, and lowers the cost of dynamically stable single-wheel mobile robots.Broader Impacts:The research investigates important issues in the technology of direct drive spherical actuation which are likely to be generally applicable. The research enhances what is already a new and different approach to mobile robot locomotion, furthering the strong public interest in dynamically stable mobile robots around the world. Besides research experiences for students working on the project, course work offered by two different departments at Carnegie Mellon University is enhanced, exposing students to issues of electromagnetic design, manufacturing, and characterization. The outreach activities expose high school students to hands-on research. There is strong international collaboration with Tohoku Gakuin University in Japan.

研究目标和方法：这项研究的目的是创建第一个具有无限旋转的球形感应电动机，并表征其性能，主要用作球形机器人车轮。 与传统的机械方法相比，该结果可降低机械复杂性和更高的性能。该方法集中在电感原理上，具体取决于材料表征，3D磁模拟，固体建模，电子电路设计和实时软件开发，请记住，要牢记动态稳定的单轮机器人的主要应用。智力优点：该研究开发了球形感应电动机，允许使用最小的机械摩擦或反弹的任意轴的直接扭矩产生和旋转。结果为新的电动机提供了一个典范，可以与更传统的解决方案进行定量比较。成功的结果简化了力学，提高性能并降低动态稳定的单轮移动机器人的成本。Boader的影响：研究调查了直接驱动球形驱动技术技术的重要问题，这些问题通常适用。该研究增强了已经是一种新的和不同的移动机器人运动方法，从而增强了对全球动态稳定移动机器人的强烈兴趣。 除了为从事该项目的学生提供的研究经验外，卡内基·梅隆大学两个不同系提供的课程工作也得到了增强，使学生遇到了电磁设计，制造和表征的问题。外展活动使高中生接受动手研究。与日本的Tohoku Gakuin大学进行了强有力的国际合作。