Characterization and control of a new high-torque motor for autonomous wearable robotics
Thesis: S.M., Massachusetts Institute of Technology, School of Architecture and Planning, Program in Media Arts and Sciences, 2016.
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| Format: | Thesis |
| Language: | eng |
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Massachusetts Institute of Technology
2016
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| Online Access: | http://hdl.handle.net/1721.1/106065 |
| _version_ | 1826196303920496640 |
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| author | Abromowitz, Madeleine Rose |
| author2 | Hugh M. Herr. |
| author_facet | Hugh M. Herr. Abromowitz, Madeleine Rose |
| author_sort | Abromowitz, Madeleine Rose |
| collection | MIT |
| description | Thesis: S.M., Massachusetts Institute of Technology, School of Architecture and Planning, Program in Media Arts and Sciences, 2016. |
| first_indexed | 2024-09-23T10:24:46Z |
| format | Thesis |
| id | mit-1721.1/106065 |
| institution | Massachusetts Institute of Technology |
| language | eng |
| last_indexed | 2024-09-23T10:24:46Z |
| publishDate | 2016 |
| publisher | Massachusetts Institute of Technology |
| record_format | dspace |
| spelling | mit-1721.1/1060652019-04-11T09:51:30Z Characterization and control of a new high-torque motor for autonomous wearable robotics Abromowitz, Madeleine Rose Hugh M. Herr. Program in Media Arts and Sciences (Massachusetts Institute of Technology) Program in Media Arts and Sciences (Massachusetts Institute of Technology) Program in Media Arts and Sciences () Thesis: S.M., Massachusetts Institute of Technology, School of Architecture and Planning, Program in Media Arts and Sciences, 2016. Cataloged from PDF version of thesis. Includes bibliographical references (pages 65-67). A new 'axial-transverse flux' motor (ATFM) topology is of interest to autonomous lower-extremity robotics designers for its high torque density and low winding resistance. Unfortunately, deliberate asymmetries in the design make finite-element modeling of this topology largely intractable. An ATFM prototype was characterized experimentally using a custom dynamometer and controller. The prototype was found to have a torque constant Kt of 7.26 Nm/A and a per-phase winding resistance of 0.59 Ohms. It is characterized by high AC and DC zero-current torque, as well as significant torque ripple (M: 12.9%, SD: 0.6%) when driven with balanced three-phase sinusoidal commutation. A set of optimized commutation waveforms are developed based on an independent phase control strategy, and it is shown that this strategy can eliminate ripple in simulation and reduce it in practice (M: 7.8%, SD: 0.5%), without reduction of mean torque or increased conduction losses relative to sinusoidal commutation. by Madeleine Rose Abromowitz. S.M. 2016-12-22T16:27:30Z 2016-12-22T16:27:30Z 2016 2016 Thesis http://hdl.handle.net/1721.1/106065 964934337 eng M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission. http://dspace.mit.edu/handle/1721.1/7582 67 pages application/pdf Massachusetts Institute of Technology |
| spellingShingle | Program in Media Arts and Sciences () Abromowitz, Madeleine Rose Characterization and control of a new high-torque motor for autonomous wearable robotics |
| title | Characterization and control of a new high-torque motor for autonomous wearable robotics |
| title_full | Characterization and control of a new high-torque motor for autonomous wearable robotics |
| title_fullStr | Characterization and control of a new high-torque motor for autonomous wearable robotics |
| title_full_unstemmed | Characterization and control of a new high-torque motor for autonomous wearable robotics |
| title_short | Characterization and control of a new high-torque motor for autonomous wearable robotics |
| title_sort | characterization and control of a new high torque motor for autonomous wearable robotics |
| topic | Program in Media Arts and Sciences () |
| url | http://hdl.handle.net/1721.1/106065 |
| work_keys_str_mv | AT abromowitzmadeleinerose characterizationandcontrolofanewhightorquemotorforautonomouswearablerobotics |