Investigation of power electronics drive techniques for genesis robotics direct-drive motors

拟议的项目涉及硬件和控制算法的研究，用于创建新的功率驱动电路和固件，用于驱动Genesis Robotics专有的机器，称为LiveDriveTM执行器。该致动器通过直接驱动致动提供高扭矩，并将磁放大与先进的结构和磁性设计相结合，以实现机器人应用的高速、扭矩和精确致动。目前还没有传统的动力驱动器可以满足上述电机在扭矩控制应用中的所有要求。特别地，由常规驱动器引入的电流涟漪相当大，并且不在可接受的极限。在提议的ENGAGE活动中，目标是开发控制算法和硬件，以改进当前的驱动器硬件和控制器。从长远来看，我们的目标是为机械臂中的每个电机开发一个完整的动力驱动系统，以便它们能够超越Genesis使用的当前驱动器。因此，该项目符合该公司的兴趣和业务目标，即为其执行器开发低谐波和电流纹波的专用功率驱动器。拟议的活动将有利于加拿大的机器人，自动化和制造业。最终产品将是集成驱动系统的构建模块，可用于涉及精密运动控制应用中使用的高性能电机的产品线。此外，参与该项目的学员将在为最先进的电机执行器开发创新驱动解决方案方面获得广泛的知识和经验，这些解决方案在加拿大高科技行业备受追捧。

The proposed project involves investigation of hardware and control algorithms for creating new power drive circuitry and firmware for driving Genesis Robotics proprietary machines called LiveDriveTM actuators. The actuator provides high torque with direct-drive actuation and combines magnetic amplification with advanced structural and magnetic design to achieve high speed, torque, and precision actuation for robotic applications. Currently there are no conventional power drives that can fulfill all the requirements for the above motors in torque control applications. In particular, the current ripple introduced by conventional drives is quite large and not at the acceptable limits. In the proposed ENGAGE activity, the objective is to develop control algorithms and hardware that would improve the current drive hardware and controllers. In the longer term, the objective is to develop a complete power drive system for each motor in a robotic arm such that they can outperform current drives used by Genesis. The proposed project is thus in line with the interest and business goals of the company in developing dedicated power drives with low harmonics and current ripples for their actuators.The proposed activities will benefit Canada's robotics, automation, and manufacturing industries. The final product will be a building block of an integrated drive system that can be used for a line of products involving high performance motors used in precision motion control applications. Furthermore, the trainees involved in the project will acquire extensive knowledge and experience in developing innovative drive solutions for state-of-the-art motor actuators which are highly sought after skills in hi-tech industries in Canada.