Development of a Cross-Coupled Two Degrees of Freedom Direct-Drive Motor

2016 Fiscal Year Final Research Report

• Project/Area Number: 26289071
• Research Category: Grant-in-Aid for Scientific Research (B)
• Allocation Type: Partial Multi-year Fund
• Section: 一般
• Research Field: Power engineering/Power conversion/Electric machinery
• Research Institution: Yokohama National University
• Principal Investigator: Shimono Tomoyuki 横浜国立大学, 大学院工学研究院, 准教授 (90513292)
• Co-Investigator(Kenkyū-buntansha): 河村 篤男 横浜国立大学, 工学(系)研究科(研究院), 教授 (80186139) ; 藤本 康孝 横浜国立大学, 工学(系)研究科(研究院), 教授 (60313475)
• Project Period (FY): 2014-04-01 – 2017-03-31
• Keywords: 電気機器工学 / モーションコントロール / 制御工学 / モータドライブ / パワーエレクトロニクス / ハプティクス

Outline of Final Research Achievements

In this research, a tubular cross-coupled two degrees of freedom direct-drive motor was developed. The mathematical model of the proposed motor was established. The validity of it was confirmed from FEM analysis and experiments on the prototype. The motion control algorithm for this motor was also presented. As a result, the utility of the proposed motor from the viewpoint of application to motion system was demonstrated. The research plan could perfectly be accomplished.

Free Research Field

メカトロニクス