Design of a Concentrically Stacked Modular Actuator with Forced Air Cooling for Multi-DOF Robotic Systems
Abstract
:1. Introduction
2. Design of a Concentrically Stacked Modular Actuator
2.1. Design Concept
2.2. Comparison between the Conventional and Proposed Robotic Platforms
3. Thermal Performance of Motors
3.1. Geometry and Thermal Characteristics of Motors
3.2. Slot Types and Thermal Characteristics of Motors
4. Verification by Simulation
4.1. Analysis Using a Thermal Equivalent Circuit
4.2. System Modeling
4.3. Simulation Results
4.4. Discussion of the Simulation Results
5. Verification by Experiment
5.1. Thermal Characteristics of the CoSMo Actuator
5.2. Discussion of the Experimental Results
6. Conclusions
Author Contributions
Funding
Conflicts of Interest
Abbreviations/Nomenclature
CoSMo | concentrically stacked modular |
DOF | degrees of freedom |
COM | center of mass |
HTC | heat transfer coefficient |
STEC | simplified thermal equivalent circuit |
RMS | root mean square |
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Type | Diameter | Length | R1 | R2 | C1 | C2 | |
---|---|---|---|---|---|---|---|
Slotless Type | EC-Max | 40 | 88 | 0.29 | 3.45 | 13.7 | 359.4 |
EC-Max | 30 | 62 | 0.5 | 7.4 | 5.5 | 135.1 | |
EC-4pole | 30 | 64 | 0.209 | 7.4 | 10.1 | 159.5 | |
EC-4pole | 30 | 47 | 0.74 | 8.96 | 5.6 | 108.0 | |
EC-4pole | 22 | 66 | 0.7 | 10.7 | 6.7 | 87.5 | |
Slotted Type | EC-i | 52 | 80 | 0.63 | 4.32 | 16.2 | 412.0 |
EC-i | 40 | 36 | 2.27 | 8.17 | 10.8 | 124.8 | |
EC-i | 30 | 36 | 2.46 | 9.01 | 13.3 | 121.0 | |
EC-i | 30 | 42 | 3.71 | 11.1 | 7.5 | 78.0 | |
EC-i | 40 | 56 | 1.35 | 7.17 | 15.3 | 195.3 | |
Unit | mm | mm |
Parameter | Values |
---|---|
Specification | Value | Unit |
---|---|---|
Max. Continuous Torque | 1.76 | Nm |
Max. Speed | 4600 | rpm |
Max. Continuous Power | 850 | W |
Diameter | 105 | mm |
Stator Length | 25 | mm |
Mass | 0.65 | kg |
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Share and Cite
Noh, J.; Lee, J.; Yang, W.; Lee, S. Design of a Concentrically Stacked Modular Actuator with Forced Air Cooling for Multi-DOF Robotic Systems. Energies 2018, 11, 2947. https://doi.org/10.3390/en11112947
Noh J, Lee J, Yang W, Lee S. Design of a Concentrically Stacked Modular Actuator with Forced Air Cooling for Multi-DOF Robotic Systems. Energies. 2018; 11(11):2947. https://doi.org/10.3390/en11112947
Chicago/Turabian StyleNoh, Jaeho, Jaeyong Lee, Woosung Yang, and Sungon Lee. 2018. "Design of a Concentrically Stacked Modular Actuator with Forced Air Cooling for Multi-DOF Robotic Systems" Energies 11, no. 11: 2947. https://doi.org/10.3390/en11112947