Six-stator spherical induction motor for balancing mobile robots
Conference Paper, Proceedings of 2015 IEEE International Conference on Robotics and Automation (ICRA), July, 2015
Abstract
This paper describes the design, construction, and operation of a closed-loop spherical induction motor (SIM) ball wheel for a balancing mobile robot (ballbot). Following earlier work, this new design has a smaller rotor and higher torques due to the use of six stators in a skewed layout. Actuation and sensing kinematics as well as control methods are presented. In its current implementation, torques of up to 8 Nm are produced by the motor with rise and decay times of 100 ms. Results are presented supporting its potential as a prime mover for mobile robots.
BibTeX
@conference{Bhatia-2015-110263,author = {Ankit Bhatia, Masaaki Kumagai, Ralph Hollis},
title = {Six-stator spherical induction motor for balancing mobile robots},
booktitle = {Proceedings of 2015 IEEE International Conference on Robotics and Automation (ICRA)},
year = {2015},
month = {July},
publisher = {IEEE},
keywords = {Stators , Rotors , Induction motors , Torque , Sensors , Force , Copper},
}
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