2015 Fiscal Year Final Research Report
Development of performance evaluation method of a high-power spherical induction motor and improvement of control
| Project/Area Number |
25420221
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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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) |
2013-04-01 – 2016-03-31
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| Keywords | 球面モータ / 球面誘導モータ / トルク計測手法 / 動力測定 / ６軸力覚センサ / 玉乗りロボット |
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| Outline of Final Research Achievements |
This work provides a method to evaluate torque of spherical motor while it is rotating. Compared to common one-axis motors, spherical motors have three degree of freedom, meaning rotation around arbitrary axis by combining three axes rotation. The torque also has three DOFs, which may not coincide with rotational axis. However, to the best knowledge, there is no way to measure all DOFs simultaneously while it is required for evaluation of spherical motor including power and efficiency. Therefore, for our developing spherical induction motor, the proposed method was developed by combination of 6-axis force/torque sensor and drive mechanism that rotates the rotor externally.
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| Free Research Field |
メカトロニクス
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