Design, Analysis, and Experimental Validation of a Permanent Magnet Synchronous Motor for Articulated Robot Applications

被引：48

作者：

Hong, Do-Kwan ^{[1
,2
]}

Hwang, Wook ^{[1
]}

Lee, Ji-Young ^{[1
,2
]}

Woo, Byung-Chul ^{[2
]}

机构：

[1] Korea Electrotechnol Res Inst, Elect Motor Res Ctr, Chang Won 51543, South Korea

[2] Univ Sci & Technol, Energy & Power Convers Engn, Chang Won 51543, South Korea

来源：

IEEE TRANSACTIONS ON MAGNETICS | 2018年 / 54卷 / 03期

关键词：

Finite element method (FEM); performance map; point-to-point repeatability test; pole-slot combination; response surface methodology (RSM); smart actuator; sphere-mounted retroreflector (SMR); RESPONSE-SURFACE METHODOLOGY; FLUX LINEAR MOTOR; WEIGHT-REDUCTION; OPTIMIZATION;

D O I：

10.1109/TMAG.2017.2752080

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

Based on the base module of Universal Robotics, this paper deals with a 16-pole, 18-slot fractional-slot concentrated-winding permanent magnet synchronous machine (PMSM) for articulated robot applications considering several pole-slot combinations and using an optimum design. The selected PMSM considering the pole-slot combination is optimized and compared both analytically and experimentally. The experimental results confirmed that the proposed PMSM can achieve improved performance at the rated state. Repeatability test results of the proposed smart actuator with a link-attached sphere-mounted retroreflector sensor met the goal of within 100 mu m according to a laser tracker. The analysis results are in good agreement with the experimental results within the maximum 2.5% error in terms of the efficiency. The design, analysis, and experiment with the PMSM for articulated robot applications were conducted successfully.

引用

页数：4

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