Spherical Induction Motors for Mobile Robots

移动机器人用球形感应电机

• 批准号: 1102147
• 负责人: Ralph Hollis
• 金额: $ 37万
• 依托单位: Carnegie-Mellon University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2011
• 资助国家: 美国
• 起止时间: 2011-08-15 至 2015-12-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1102147&HistoricalAwards=false
• 关键词: Spherical; Induction; Motors; Mobile; Robots

Research Objectives and Approaches:The objective of this research is to create the first spherical induction motor with unlimited rotation and to characterize its performance, principally for use as a spherical robot wheel. The outcome offers reduced mechanical complexity and higher performance when compared with traditional mechanical methods. The approach concentrates on the inductance principle, depending heavily on material characterization, 3D magnetic simulation, solid modeling, electronic circuit design, and real-time software development, keeping in mind the primary application to dynamically stable single-wheel robots. Intellectual Merit:The research develops a spherical induction motor permitting direct torque generation and rotation about arbitrary axes with a minimum of mechanical friction or backlash. The results provide an exemplar for a new class of motor, permitting quantitative comparisons with more traditional solutions. The successful outcome simplifies mechanics, improves performance, and lowers the cost of dynamically stable single-wheel mobile robots.Broader Impacts:The research investigates important issues in the technology of direct drive spherical actuation which are likely to be generally applicable. The research enhances what is already a new and different approach to mobile robot locomotion, furthering the strong public interest in dynamically stable mobile robots around the world. Besides research experiences for students working on the project, course work offered by two different departments at Carnegie Mellon University is enhanced, exposing students to issues of electromagnetic design, manufacturing, and characterization. The outreach activities expose high school students to hands-on research. There is strong international collaboration with Tohoku Gakuin University in Japan.

研究目标和方法：本研究的目的是制造第一个无限旋转的球形感应电机并表征其性能，主要用作球形机器人轮。 与传统的机械方法相比，其结果降低了机械复杂性并提高了性能。该方法集中于电感原理，在很大程度上依赖于材料表征、3D 磁仿真、实体建模、电子电路设计和实时软件开发，同时考虑到动态稳定单轮机器人的主要应用。智力优点：该研究开发了一种球形感应电机，可以直接产生扭矩并绕任意轴旋转，机械摩擦或间隙最小。研究结果为新型电机提供了范例，可以与更传统的解决方案进行定量比较。这一成功成果简化了机械结构，提高了性能，并降低了动态稳定单轮移动机器人的成本。更广泛的影响：该研究调查了可能普遍适用的直接驱动球形驱动技术中的重要问题。这项研究增强了移动机器人运动的一种新的、不同的方法，进一步激发了世界各地公众对动态稳定移动机器人的浓厚兴趣。 除了为参与该项目的学生提供研究经验外，卡内基梅隆大学两个不同系提供的课程作业也得到了加强，让学生接触到电磁设计、制造和表征问题。外展活动让高中生有机会进行实践研究。与日本东北学院大学有着密切的国际合作。