Low cost, high performance actuators for dynamic robots
Author(s)Katz, Benjamin G
Massachusetts Institute of Technology. Department of Mechanical Engineering.
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The recent growth of the remote control airplane and drone market has created great availability of extremely cheap, yet very power and torque dense electric motors. However, these motors have for the most part been neglected by the robotics community. This thesis documents the development of a hardware, firmware, and controls platform for using these motors in robotics applications - specifically for running robots. A sampling of these motors were characterized, and appropriate position sensing, power electronics and field-oriented motor control systems for torque, position, and impedance control of the motors was developed. Additionally, a module which combines motor, electronics, and single-stage planetary gearset was designed and fabricated. For demonstration, a pair of these motor-controller- gearbox modules were incorporated in a 2-degree- of-freedom leg capable of jumping and controlling its joint impedances.
Thesis: S.B., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2016.This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.Cataloged from student-submitted PDF version of thesis.Includes bibliographical references (page 47).
DepartmentMassachusetts Institute of Technology. Department of Mechanical Engineering.
Massachusetts Institute of Technology