Research Initiation: Development of a Spherical Stepper Wrist Motor

本研究的目的是建立一个理论 创建球形手腕步进电机的基础， 在一个关节里有三个方向的运动。 的 一种类似球关节的球形腕部马达，其特征在于， 结构简单，设计紧凑， 在工作空间的中间，除了在 边界和不平衡的转子离心力。 的 球形手腕步进电机具有重要的应用， 末端执行器需要快速、连续 在所有方向上各向同性，例如高速等离子体， 激光切割机 研究将集中在三个领域。 的 首先是磁场和磁阻的预测 使用有限元技术， 也将提供一个很好的理解的影响， 设计参数，对扭矩和分辨率。 二是 使用非线性规划技术的优化， 最大化扭矩，同时最大化重量和体积， 特定的决议。 第三个领域是发展一个 两级控制方案预先规划最佳轨迹， 设计了一种具有良好抗扰性的定向控制律 排斥反应

The objective of this research is to establish a theoretical basis for the creation of a spherical wrist stepper motor capable of three degrees of orientation motion in a single joint. The ball-joint-like spherical wrist motor is characterized by its simplicity in structure, compact design and free from singularities in the middle of the workspace except at the boundaries and unbalanced rotor centrifugal forces. The spherical wrist stepper motor has significant applications where the end-effector is required to orient quickly, continuously and isotropically in all directions such as high speed plasma and laser cutting. The research will focus on three areas. The first is the prediction of the magnetic fields and reluctance forces for a given design using finite element technique, which will also provide a good understanding of the influences of the design parameters, on the torque and resolution. The second is an optimization using non-linear programming techniques to maximize torque while minimizing weight and volume for a specified resolution. The third area is the development of a two-level control scheme to pre-plan an optimum trajectory and to develop an orientation control law with good disturbance rejection.