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Project
A novel, compact and energy efficient dual motor actuator for dynamic applications in robotics. (FWOSB67)
The actuators of future robots should deliver high output torque while being lightweight, compact and energy efficient. Hence, the electric motors used in robots have heavily been studied and optimized over the years and are a reliable source of mechanical power, especially when
combined with well-designed gearboxes. However, the efficiency of these engines can drop drastically drop when the speed and torque differ from their rated values. Though, this is the case in many applications in robotics, where they encounter a wide range of operating conditions: fast reaching motions (where forces are small) and applying large forces (where speeds are low). Hence, systems are developed which can adapt their manner of working during operation, e.g. of such systems are Continuously Variable Transmissions (CVTs) and Dual Motor Actuators (DMAs). These systems are especially been studied for the automotive sector, but not for robotic applications. Nevertheless, research has shown that they can drastically increase the energy efficiency.
In the proposed PhD project a novel transmission system, inspired by the work of my master's thesis, is presented. This transmission has the potential to obtain very high gear ratios and the operation range required for typical robotic applications, while remaining compact and efficient. The transmission will be actuated by two motors in order to gain an extra degree of flexibility which will be optimally controlled to reduce the overall energy cost.
combined with well-designed gearboxes. However, the efficiency of these engines can drop drastically drop when the speed and torque differ from their rated values. Though, this is the case in many applications in robotics, where they encounter a wide range of operating conditions: fast reaching motions (where forces are small) and applying large forces (where speeds are low). Hence, systems are developed which can adapt their manner of working during operation, e.g. of such systems are Continuously Variable Transmissions (CVTs) and Dual Motor Actuators (DMAs). These systems are especially been studied for the automotive sector, but not for robotic applications. Nevertheless, research has shown that they can drastically increase the energy efficiency.
In the proposed PhD project a novel transmission system, inspired by the work of my master's thesis, is presented. This transmission has the potential to obtain very high gear ratios and the operation range required for typical robotic applications, while remaining compact and efficient. The transmission will be actuated by two motors in order to gain an extra degree of flexibility which will be optimally controlled to reduce the overall energy cost.
Date:1 Jan 2019 → 31 Mar 2023
Keywords:Robots
Disciplines:Other computer engineering, information technology and mathematical engineering not elsewhere classified