| Author: | Li, Chang |
| Title: | Design and analyze of a novel spherical motor for the robot application |
| Advisors: | Fu, W. N. (EE) |
| Degree: | M.Sc. |
| Year: | 2020 |
| Subject: | Robots, Industrial -- Design and construction Robotics Motors Hong Kong Polytechnic University -- Dissertations |
| Department: | Department of Electrical Engineering |
| Pages: | [60] pages : color illustrations |
| Language: | English |
| Abstract: | Industrial robots have gradually replaced the traditional labor force and become a new trend in the transformation and development of China's manufacturing industry. At present, China's robot production has ranked first in the world, but unfortunately, most of the cutting-edge robots still rely on imports. There are some vital backward technologies in China's motor research and development, such as the development of precision reducer, multi-freedom motor and so on. The motor has more than one degree of freedom is conducive to reducing space occupation and improving motion accuracy, which is of great significance to the industrial robot industry development and the transformation and upgrading of labor-intensive enterprises. In this dissertation, a new type of multi-degree-of-freedom spherical motor driven by two sets of winding, rotating winding and tilting winding, is presented, and the design process is studied systematically. Firstly, the research status and development trend of the spherical motor at home and abroad are summarized and analyzed, several structures and design characteristics of the spherical motor are discussed, and the underlying mathematical theory involved in magnetic circuit analysis and calculation method is deduced. Then, the dissertation introduces maxwell, a software could do finite element analysis specifically. Moreover, it was applied to calculate and verify motor design to improve design accuracy. Second, according to the technical index of industrial robot joint, size requirements, and specific application environment and characteristics of the control, the dissertation analyzes the design parameter selection standard. Then the selection method and advantages of the fraction slot are introduced in detail. In this dissertation, based on the empirical values, the electromagnetic load and electric density are estimated, and the dimensions, slot pole ratio, permanent magnet, and stator rotor material are preliminarily determined. Thirdly, the dissertation introduces the operation process and operation steps in detail, conducts the comparison among different fractional winding motor, and switched reluctance motor by modeling and simulating. By observing the motor's magnetic field flux, magnetic dense cloud diagram, no-load magnetic field, and the magnetic field when excitation is set, the plot of back electromotive force, torque, and current of the motor, the torque fluctuation, harmonics, the motor is adjusted to have a better performance. Finally, the principle of the spherical motor is introduced, the rotation angle is defined, and the relationship between torque and angle is analyzed in the finite element software. |
| Rights: | All rights reserved |
| Access: | restricted access |
Files in This Item:
| File | Description | Size | Format | |
|---|---|---|---|---|
| 6358.pdf | For All Users (off-campus access for PolyU Staff & Students only) | 2.64 MB | Adobe PDF | View/Open |
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