TY - GEN
T1 - Design of A New Double Side Axial-Flux Actuator for Robot Dog
AU - Huang, Rundong
AU - Song, Zaixin
AU - Dong, Zhiping
AU - Liu, Yuxin
AU - Liu, Chunhua
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022/9
Y1 - 2022/9
N2 - A novel double side axial-flux actuator (DSAFA) is proposed to reduce the volume of the actuator system for robot dogs. It is an axial-flux permanent magnet (AFPM) machine with two rotors and one stator. The pole-slot combinations on two sides of the DSAFA are 24-slot-20-pole and 36-slot-42-pole configurations. They can work independently so that the DSAFA can control the thigh and lower legs at the same time. A quasi-3D finite element method (FEM) is used to analyze the parameters of the DSAFA. Then, a 3D FEM is applied to conduct a parametric study and optimize the geometry. The average torques of the optimal structure are 4.14 Nm and 3.96 Nm, while the torque ripples are reduced to be 0.23 Nm and 0.03 Nm. Finally, the DSAFA shows the same performances when compared with two single-side benchmark AFPM machines.
AB - A novel double side axial-flux actuator (DSAFA) is proposed to reduce the volume of the actuator system for robot dogs. It is an axial-flux permanent magnet (AFPM) machine with two rotors and one stator. The pole-slot combinations on two sides of the DSAFA are 24-slot-20-pole and 36-slot-42-pole configurations. They can work independently so that the DSAFA can control the thigh and lower legs at the same time. A quasi-3D finite element method (FEM) is used to analyze the parameters of the DSAFA. Then, a 3D FEM is applied to conduct a parametric study and optimize the geometry. The average torques of the optimal structure are 4.14 Nm and 3.96 Nm, while the torque ripples are reduced to be 0.23 Nm and 0.03 Nm. Finally, the DSAFA shows the same performances when compared with two single-side benchmark AFPM machines.
KW - 3D Finite Element Method
KW - Double Side Axial-Flux Machine
KW - Electric Machine
KW - Independence
KW - Quasi 3D Finite Element Method
KW - Robot Dog
KW - Robotic Actuator
UR - https://www.scopus.com/pages/publications/85141043692
U2 - 10.1109/ICEM51905.2022.9910806
DO - 10.1109/ICEM51905.2022.9910806
M3 - Conference article published in proceeding or book
AN - SCOPUS:85141043692
T3 - 2022 International Conference on Electrical Machines, ICEM 2022
SP - 900
EP - 906
BT - 2022 International Conference on Electrical Machines, ICEM 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2022 International Conference on Electrical Machines, ICEM 2022
Y2 - 5 September 2022 through 8 September 2022
ER -