2012 Fiscal Year Final Research Report
Development of a Spherical Induction Motor with Practical Output and its Application to Uniwheel-type Wheelchair
| 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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| 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 |
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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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