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How to Model Brushless Electric Motors for the Design of Lightweight Robotic Systems

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arXiv 2023年

作者： Lee, Ung Hee Shepherd, Tor Kim, Sangbae De, Avik Su, Hao Gregg, Robert Mooney, Luke Rouse, Elliott Neurobionics Lab. University of Michigan Ann ArborMI48109 United States Department of Mechanical Engineering University of Michigan United States The Robotics Institute University of Michigan United States Department of Mechanical Engineering Massachusetts Institute of Technology CambridgeMA02139 United States Department of Electrical and Systems Engineering University of Pennsylvania PhiladelphiaPA19104 United States Lab of Biomechatronics and Intelligent Robotics Department of Mechanical Engineering and Aerospace Engineering North Carolina State University RaleighNC27695 United States Department of Electrical Engineering and Computer Science University of Michigan United States Dephy Inc. MaynardMA01754 United States

A key step in the development of lightweight, high performance robotic systems is the modeling and selection of permanent magnet brushless direct current (BLDC) electric motors. Typical modeling analyses are completed a priori, and provide insight for properly sizing a motor for an application, specifying the required operating voltage and current, as well as assessing the thermal response and other design attributes e.g. transmission ratio). However, to perform these modeling analyses, proper information about the motor’s characteristics are needed, which are often obtained from manufacturer datasheets. Through our own experience and communications with manufacturers, we have noticed a lack of clarity and standardization in modeling BLDC motors, compounded by vague or inconsistent terminology used in motor datasheets. The purpose of this tutorial is to concisely describe the governing equations for BLDC motor analyses used in the design process, as well as highlight potential errors that can arise from incorrect usage. We present a power-invariant conversion from phase and line-to-line reference frames to a familiar q-axis DC motor representation, which provides a "brushed" analogue of a three phase BLDC motor that is convenient for analysis and design. We highlight potential errors including incorrect calculations of winding resistive heat loss, improper estimation of motor torque via the motor’s torque constant, and incorrect estimation of the required bus voltage or resulting angular velocity limitations. A unified and condensed set of governing equations is available for designers in Appendix A. The intent of this work is to provide a consolidated mathematical foundation for modeling BLDC motors that addresses existing confusion and fosters high performance designs of future robotic systems. © 2023, CC BY-NC-ND.

关键词： Design

Medical robots for infectious diseases: Lessons and challenges from the COVID-19 pandemic

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arXiv 2020年

作者： Di Lallo, Antonio Murphy, Robin R. Krieger, Axel Zhu, Junxi Taylor, Russell H. Su, Hao Lab of Biomechatronics and Intelligent Robotics Department of Mechanical Engineering City University of New York City College NY10031 United States Department of Computer Science and Engineering Texas A&M University College StationTX77840 United States Department of Mechanical Engineering John Hopkins University BaltimoreMD21218 United States Department of Computer Science Johns Hopkins University BaltimoreMD21218 United States

Medical robots can play an important role in mitigating the spread of infectious diseases and delivering quality care to patients during the COVID-19 pandemic. Methods and procedures involving medical robots in the continuum of care, ranging from disease prevention, screening, diagnosis, treatment, and homecare have been extensively deployed and also present incredible opportunities for future development. This paper provides an overview of the current state-of-the-art, highlighting the enabling technologies and unmet needs for prospective technological advances within the next 5-10 years. We also identify key research and knowledge barriers that need to be addressed in developing effective and flexible solutions to ensure preparedness for rapid and scalable deployment to combat infectious diseases. © 2020, CC BY.

关键词： Diseases

Design and Control of a Quasi-Direct Drive Soft Exoskeleton for Knee Injury Prevention during Squatting

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arXiv 2019年

作者： Yu, Shuangyue Huang, Tzu-Hao Wang, Dianpeng Lynn, Brian Sayd, Dina Silivanov, Viktor Park, Young Soo Tian, Yingli Su, Hao Lab of Biomechatronics and Intelligent Robotics Department of Mechanical Engineering City College City University of New York New York NY10023 United States Argonne National Laboratory Applied Materials Division LemontIL60439 United States Department of Electrical Engineering City College City University of New York New York NY10023 United States

This paper presents design and control innovations of wearable robots that tackle two barriers to widespread adoption of powered exoskeletons, namely restriction of human movement and versatile control of wearable co-robot systems. First, the proposed quasi-direct drive actuation comprising of our customized hightorque density motors and low ratio transmission mechanism significantly reduces the mass of the robot and produces high backdrivability. Second, we derive a biomechanics model-based control that generates biological torque profile for versatile control of both squat and stoop lifting assistance. The control algorithm detects lifting postures using compact inertial measurement unit (IMU) sensors to generate an assistive profile that is proportional to the biological torque produced from our model. Experimental results demonstrate that the robot exhibits low mechanical impedance (1.5 Nm resistive torque) when it is unpowered and 0.5 Nm resistive torque with zero-torque tracking control. Root mean square (RMS) error of torque tracking is less than 0.29 Nm (1.21% error of 24 Nm peak torque). Compared with squatting without the exoskeleton, the controller reduces 87.5%, 80% and 75% of the of three knee extensor muscles (average peak EMG of 3 healthy subjects) during squat with 50% of biological torque assistance. Copyright © 2019, The Authors. All rights reserved.

关键词： Torque

Spine-Inspired Continuum Soft Exoskeleton for Stoop Lifting Assistance

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arXiv 2019年

作者： Yang, Xiaolong Huang, Tzu-Hao Hu, Hang Yu, Shuangyue Zhang, Sainan Zhou, Xianlian Carriero, Alessandra Yue, Guang Su, Hao Lab of Biomechatronics and Intelligent Robotics Department of Mechanical Engineering City University of New York City College New York NY10031 United States Department of Biomedical Engineering New Jersey Institute of Technology New JerseyNJ07102 United States Department of Biomedical Engineering City University of New York City College10031 United States Kessler Foundation New JerseyNJ07936 United States

Back injuries are the most prevalent work-related musculoskeletal disorders and represent a major cause of disability. Although innovations in wearable robots aim to alleviate this hazard, the majority of existing exoskeletons are obtrusive because the rigid linkage design limits natural movement, thus causing ergonomic risk. Moreover, these existing systems are typically only suitable for one type of movement assistance, not ubiquitous for a wide variety of activities. To fill in this gap, this paper presents a new wearable robot design approach continuum soft exoskeleton. This spine-inspired wearable robot is unobtrusive and assists both squat and stoops while not impeding walking motion. To tackle the challenge of the unique anatomy of spine that is inappropriate to be simplified as a single degree of freedom joint, our robot is conformal to human anatomy and it can reduce multiple types of forces along the human spine such as the spinae muscle force, shear, and compression force of the lumbar vertebrae. We derived kinematics and kinetics models of this mechanism and established an analytical biomechanics model of human-robot interaction. Quantitative analysis of disc compression force, disc shear force and muscle force was performed in simulation. We further developed a virtual impedance control strategy to deliver force control and compensate hysteresis of Bowden cable transmission. The feasibility of the prototype was experimentally tested on three healthy subjects. The root mean square error of force tracking is 6.63 N (3.3 % of the 200N peak force) and it demonstrated that it can actively control the stiffness to the desired value. This continuum soft exoskeleton represents a feasible solution with the potential to reduce back pain for multiple activities and multiple forces along the human spine. Copyright © 2019, The Authors. All rights reserved.

关键词： Human robot interaction