Standalone brushless motor module optimized for legged robots

• Autorzy: Wasilewski Piotr , Gradzki Rafal

Identyfikatory

DOI

10.24425/bpasts.2022.141008

• Języki publikacji: EN

Abstrakty

EN

The main focus of the article is an advanced actuator, designed and optimized for small dynamic legged robots. The presented actuator prototype is unique, as the market lacks similar solutions when dimensions and weight of the module are considered. The actuator has a modular structure, which makes it easy to replace in case of malfunction and simplifies the overall structure of the robot. High torque bandwidth, achieved by the module, is crucial to agile locomotion, obstacle avoidance and push recovery of the quadrupedal robot. The Authors have conducted a solution review aimed at similar small-size modules. It was found that there are no advanced actuators suitable for sub 5 kg quadruped robots. The unique design presented in this paper is described in all three aspects: mechanical, electrical and software. The mechanical section depicts the solutions implemented in the module, especially the low gear ratio gearbox. The custom brushless motor driver is presented in the electrical section, together with detailed diagrams and hardware descriptions. The last section depicts solutions implemented in the software, the main motor control algorithm and auxiliary modules such as automatic motor parameter identification and encoder misalignment correction. Tests performed in the last part of this paper validated the design goals established for the actuator. The results confirmed the high torque capability and exhibited the motor saturation region. Continuous and peak torque were measured based on the thermal characteristics of the module. Moreover, the automatic motor parameter identification process carried out by the controller itself was validated by manual measurements.

Słowa kluczowe

EN

brushless motor; quadruped robot; actuator module

PL

silnik bezszczotkowy; robot czworonożny; moduł wykonawczy

• Wydawca: Polska Akademia Nauk, Wydział IV Nauk Technicznych
• Czasopismo: Bulletin of the Polish Academy of Sciences. Technical Sciences
• Rocznik: 2022
• Tom: Vol. 70, nr 3
• Strony: art. no. e141008
• Opis fizyczny: Bibliogr. 28 poz., rys., tab.

Twórcy

autor

Wasilewski Piotr

• Bialystok University of Technology, Faculty of Electrical Engineering, Wiejska 45D, 15-351 Bialystok, Poland

autor

Gradzki Rafal

• Bialystok University of Technology, Faculty of Mechanical Engineering, Department of Robotics and Mechatronics, Wiejska 45C, 15-351 Bialystok, Poland

• https://orcid.org/0000-0001-9653-9083

Bibliografia

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Uwagi

Opracowanie rekordu ze środków MEiN, umowa nr SONP/SP/546092/2022 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2022-2023).