Torque evaluation method of spherical motors using six-axis force/torque sensor
Torque evaluation method of spherical motors using six-axis force/torque sensor
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DOI：
10.1109/icra.2016.7487392
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发表时间：
2016-05
期刊：
影响因子：
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通讯作者：
M. Kumagai
中科院分区：
文献类型：
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作者：
M. Kumagai
球形电机属于多自由度执行器。世界上正在研究几种类型的球形电机，因为它们将用于目前使用2或3个单自由度电机组合的机器人。然而，以前的大多数作品主要是演示电机如何旋转或如何输出扭矩，而没有给出足够的规格。扭矩、速度、效率、可控性和响应是决定它们如何用于机器人或实际机电系统的重要问题。本文的目的是提出一种方法来测量球形电机的三自由度转矩，当他们以任意角速度旋转，它可以评估在实际情况下的转矩，可以用来推导电机的效率。这些测量对于比较系统的实现和改进是重要的。这个想法包括两个部分。一种是使用6轴力/扭矩传感器进行扭矩测量。它可以离轴同时测量扭矩。另一种是用于全方位移动的机器人的外部三自由度转子驱动器，它安装在转子和传感器之间。详细的原则和一组我们的球形感应电动机的实验测量证明所提出的方法的实用性在本文中描述。
Spherical motors are classified as multi-degrees-of-freedom actuators. Several types of spherical motors are under investigation in the world because they will be useful for robots that currently use combination of 2 or 3 one-degree-of-freedom motors. However, most of the previous works mainly demonstrated how the motors rotate or how they output torque without giving enough specifications. Torque, velocity, efficiency, controllability, and response are important issues to determine how they can be used for robots or practical mechatronic systems. The objective of this paper is to propose a method to measure three-degrees-of-freedom torque of spherical motors while they rotate with arbitrary angular velocity, which can evaluate torque in practical situations and can be used to derive efficiency of the motor. These measurements are important for comparison among the implementations and improvement of the systems. The idea consists of two parts. One is torque measurement using a 6-axis force/torque sensor. It enables off-axis simultaneous measurement of torque. The other is an external 3-degrees-of-freedom rotor driver using wheels for omnidirectional mobile robots, which is installed between the rotor and the sensor. Detailed principles and a set of experimental measurements of our spherical induction motor demonstrating usefulness of the proposed method are described in this paper.