Presidential Young Investigator Award: High Performance Precision Motion Control

该奖项支持高性能精密运动控制的研究。其中一个重点是为研制一种能够在单个关节中实现三个方向运动的机电球面步进机奠定理论基础。该类球节电机基于混合永磁体和变磁阻原理，具有结构简单、设计紧凑、无奇异性(工作空间边界除外)、转子体力不平衡等特点。提出的球形步进器具有重要的应用，如高速等离子和激光切割，其中要求末端执行器快速定向、L连续和各向同性。步进机的发展在设计、建模、控制和实现方面提出了挑战。总统青年研究人员奖的初步支持将允许球形步进器的研究包括实验调查和原型开发和评估。

This award supports research in high-performance precision motion control. One of the focuses is to establish the theoretical basis for the creation of an electromechanical spherical stepper capable of three degrees of orientation motion in a single joint. The ball-joint-like motor is based on the hybrid permanent magnet and variable reluctance principle and is characterized by simplicity of structure, compact design, absence of singularities (except at the boundary of the workspace, and lack of unbalanced rotor body forces. The proposed spherical stepper has significant applications such as high-speed plasma and laser cutting where the end-effector is required to orient quickly,l continuously, and isotropically in all directions. The development of the stepper presents a challenge in design, modeling, control and implementation. The initial support of the Presidential Young Investigator Award will permit the spherical stepper research to include experimental investigation and prototype development and evaluation.