| Project/Area Number |
23760234
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Multi-year Fund |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Tohoku Gakuin University |
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Principal Investigator |
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| Project Period (FY) |
2011 – 2012
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| Project Status |
Completed (Fiscal Year 2012)
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| Budget Amount *help |
¥4,420,000 (Direct Cost: ¥3,400,000、Indirect Cost: ¥1,020,000)
Fiscal Year 2012: ¥1,950,000 (Direct Cost: ¥1,500,000、Indirect Cost: ¥450,000)
Fiscal Year 2011: ¥2,470,000 (Direct Cost: ¥1,900,000、Indirect Cost: ¥570,000)
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| Keywords | ロボティクス / メカトロニクス / 球面モータ / 球面誘導モータ / 平面モータ / ベクトル制御 / 3自由度アクチュエータ / 玉乗りロボット / 誘導モータ / 球面アクチュエータ / 角速度制御 / 球面運動計測 / マウスセンサ / 平面誘導モータ / 光学マウスセンサ / ３自由度モータ / 電機子 |
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| Research Abstract |
A spherical induction motor with practical characteristics was developed. It can be driven in 3 DOF with no limitation in rotational angle. The motor has 5Nm maximum torque, that is 40N thrust on the surface, with less than 10ms response. It is applicable to a wheel drive of a mobile robot. With laser mouse sensors, the angular velocity feedback control and the angular posture control of the sphere were implemented. The characteristic of the torque output, the angular velocity and posture control was demonstrated through experiments.
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