Six-stator spherical induction motor for balancing mobile robots
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 226 - 231, May, 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-2015-122031,author = {Ankit Bhatia and Masaaki Kumagai and Ralph Hollis},
title = {Six-stator spherical induction motor for balancing mobile robots},
booktitle = {Proceedings of (ICRA) International Conference on Robotics and Automation},
year = {2015},
month = {May},
pages = {226 - 231},
}
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