Six-stator spherical induction motor for balancing mobile robots

This paper describes the design, construction, and operation of a closed-loop spherical induction motor (SIM) ball wheel for a balancing mobile robot (ballbot). Following earlier work, this new design has a smaller rotor and higher torques due to the use of six stators in a skewed layout. Actuation...

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Bibliographic Details
Main Authors: Bhatia, Ankit, Kumagai, Masaaki, Hollis, Ralph
Format: Conference Proceeding
Language:English
Subjects:
Copper
Force
Induction motors
Rotors
Sensors
Stators
Torque
Online Access:Request full text
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Description
Summary:This paper describes the design, construction, and operation of a closed-loop spherical induction motor (SIM) ball wheel for a balancing mobile robot (ballbot). Following earlier work, this new design has a smaller rotor and higher torques due to the use of six stators in a skewed layout. Actuation and sensing kinematics as well as control methods are presented. In its current implementation, torques of up to 8 Nm are produced by the motor with rise and decay times of 100 ms. Results are presented supporting its potential as a prime mover for mobile robots.
ISSN:1050-4729
2577-087X
DOI:10.1109/ICRA.2015.7139004