Park, J.; Chang, H. Improving Speed Characteristics of High-Torque-Density Motors for Physical Human–robot Interaction Using an Independent Three-Phase Winding Structure. Actuators2024, 13, 161.
Park, J.; Chang, H. Improving Speed Characteristics of High-Torque-Density Motors for Physical Human–robot Interaction Using an Independent Three-Phase Winding Structure. Actuators 2024, 13, 161.
Park, J.; Chang, H. Improving Speed Characteristics of High-Torque-Density Motors for Physical Human–robot Interaction Using an Independent Three-Phase Winding Structure. Actuators2024, 13, 161.
Park, J.; Chang, H. Improving Speed Characteristics of High-Torque-Density Motors for Physical Human–robot Interaction Using an Independent Three-Phase Winding Structure. Actuators 2024, 13, 161.
Abstract
Recently, due to the decrease in labor force, increase in labor costs, and the desire for improved quality of life, research on robots has been actively conducted to address these issues. However, it is currently difficult to find robots that physically interact with humans. The reason is that the actuators of robots do not have high torque density on their own. To solve this problem, high torque density motors, such as proprioceptive actuators, are being researched. However, the torque density is still insufficient for physical interaction with humans, so we have developed a motor with higher torque density. However, high torque density motors have the disadvantage of lower speed characteristics due to increased Back-EMF. Therefore, to address the deterioration of speed characteristics in the developed motor, we applied the Independent 3-Phase winding structure to improve the speed characteristics. Consequently, through comparison with Y-Connection and Delta-Connection, we propose the most suitable winding structure for high torque density motors intended for physical interaction with humans.
Keywords
High Torque Density Motor; Safe pHRI(physical Human-Robot interaction); Independent 3-phase; Motor Controller
Subject
Engineering, Electrical and Electronic Engineering
Copyright:
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
