Exterior vs. Interior Rotors in Robotic Brushless Motors

摘要：

Many robotic actuators must generate high torques and accelerations. Exterior-rotor brushless motors seem better suited for these tasks than conventional interiorrotor brushless motors. Models of these two motor types were used to calculate benchmarks and evaluate motor performance in simulated tasks for different motor geometries. Exteriorrotor motors had higher motor constants and efficiency, but lower rated power compared with interior-rotor motors. They required less energy to perform typical robotic tasks. Four exterior-rotor motors were fabricated and compared with manufacturing data from the best existing brushless DC motors. The exterior-rotor motors had more than a 250％ increase in stall torque density compared with the best known brushless DC motor (RoboDrive) and more than a 740％ increase in stall torque density compared with more common motors such as those produced by MicroMo and Maxon. These exterior-rotor motors appear promising for robotic applications.

关键词： Brushless motor exterior rotor motor benchmarks torque density

作者: Jonathon W. Sensinger Stephen D. Clark Jack F. Schorsch

作者单位: Center for Bionic Medicine,Rehabilitation Institute of Chicago,Chicago,IL 60611

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 2764-2770

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）