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。其中一个重点是建立理论基础的机电球形步进电机能够三度定向运动在一个单一的关节。球关节式电机基于永磁和变磁阻混合原理，具有结构简单、设计紧凑、无奇点（工作空间边界处除外）、转子体力不平衡等特点。所提出的球形步进器具有重要的应用，如高速等离子体和激光切割，其中末端执行器需要在所有方向上快速，连续和各向同性定向。步进电机的发展在设计、建模、控制和实现等方面提出了挑战。总统青年研究者奖的初步支持将允许球形步进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.