WO2022244777A1 - アクチュエータ - Google Patents
アクチュエータ Download PDFInfo
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- WO2022244777A1 WO2022244777A1 PCT/JP2022/020548 JP2022020548W WO2022244777A1 WO 2022244777 A1 WO2022244777 A1 WO 2022244777A1 JP 2022020548 W JP2022020548 W JP 2022020548W WO 2022244777 A1 WO2022244777 A1 WO 2022244777A1
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- link
- actuator
- rotor
- stator
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- 238000004519 manufacturing process Methods 0.000 claims description 14
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- 238000002474 experimental method Methods 0.000 description 11
- 238000007796 conventional method Methods 0.000 description 7
- 230000001360 synchronised effect Effects 0.000 description 7
- 230000000052 comparative effect Effects 0.000 description 6
- 230000004044 response Effects 0.000 description 6
- 230000006698 induction Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000004804 winding Methods 0.000 description 4
- 206010052428 Wound Diseases 0.000 description 3
- 208000027418 Wounds and injury Diseases 0.000 description 3
- 230000004075 alteration Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000012935 Averaging Methods 0.000 description 1
- 241000555745 Sciuridae Species 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005672 electromagnetic field Effects 0.000 description 1
- 230000004907 flux Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000474 nursing effect Effects 0.000 description 1
- 235000012771 pancakes Nutrition 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000013585 weight reducing agent Substances 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/146—Rotary actuators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K21/00—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets
- H02K21/12—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/14—Structural association with mechanical loads, e.g. with hand-held machine tools or fans
Definitions
- the present invention relates to actuators and manipulators having actuators.
- robots are expected to play an active role in various fields such as industry, medicine, and nursing care.
- the reasons for this include the labor shortage due to the declining birthrate and aging population, and the movement to improve work efficiency.
- robots that can perform dexterous movements with multiple degrees of freedom.
- multi-degree-of-freedom manipulators in industrial robotic arms, artificial hands, and robotic hands. Therefore, a serial link manipulator has been developed in which motors are connected in series to achieve multiple degrees of freedom.
- the structure of conventional manipulators is a structure in which multiple motors are attached in series to joints.
- Conventional manipulators are described in Patent Documents 1 to 9, for example.
- the motor is placed inside the link instead of being attached to the outside of the link.
- a conventional link actuator has problems such as an increase in inertia due to separate link parts and motor parts, and a decrease in control accuracy due to the use of gears.
- using a gear (reducer) increases torque but slows rotation, so it is not suitable for situations where high-speed operation is required (for example, where a robot assists a human).
- gears reduces backdrivability.
- the gear itself increases the weight of the manipulator.
- the inventors of the present invention have found, as an example, that the stator of an electric motor is provided with a first link, and the rotor is provided with a second link, whereby the conventional link
- the inventors have found that an electric motor and an actuator with lower inertia can be realized, and have completed the present invention including these as embodiments.
- the present disclosure includes the following embodiments: [1] An electric motor comprising a first link having a stator and a second link having a rotor. [2] the rotor is disposed in the stator, and the rotor rotates in the stator to cause the first link to move relative to the second link; or , wherein the stator is disposed within the rotor, and rotation of the rotor within the rotor causes relative motion of the first link with respect to the second link;
- the stator is provided with a link portion as a first link, A link portion is provided on the rotor to form a second link;
- a method of manufacturing an electric motor having a stator and a rotor [19] The manufacturing method according to Embodiment 18, wherein the motor is a radial gap motor. [20] The manufacturing method according to Embodiment 18, wherein the motor is an axial gap motor. [21] The manufacturing method according to any one of Embodiments 18-20, wherein the electric motor has no gears.
- an electric motor and actuator with lower inertia compared to conventional links are provided.
- FIG. 1 shows a conventional actuator with a coupling
- Figure 2 shows a conventional actuator with no coupling but with the motor located outside the link.
- 1 shows an in-link actuator of the present disclosure
- FIG. 2 illustrates (top view) a stator link (first link) of the present disclosure
- FIG. 2 is a diagram (perspective view) illustrating a stator link (first link) of the present disclosure
- FIG. 3 illustrates (top view) a rotor link (second link) of the present disclosure
- Fig. 10 is a diagram illustrating a rotor link (second link) of the present disclosure (perspective view)
- Fig. 4 illustrates how coils are wound within the in-link actuator of the present disclosure; It is a photograph figure of the stator link which wound the coil.
- the configuration is an example. It is a figure which showed the arrangement
- the configuration is an example.
- FIG. 4 is a photographic view of a rotor link of the present disclosure;
- the configuration is an example.
- Figure 2 shows a device with a base for attaching a link actuator to a DD motor. It is a photograph figure which connected each link actuator to the motor and the base.
- Comparative Example 1 is a conventional actuator with a coupling
- Comparative Example 2 is a conventional actuator without a coupling but with a motor located outside the link
- the present invention is the in-link actuator of the present disclosure. is. The results of measuring the moment of inertia of each link are shown.
- the link with the conventional coupling had the largest moment of inertia (left, Comparative Example 1). Also, a conventional actuator without a coupling but with a motor located outside the link also exhibited a constant moment of inertia (middle, comparative example 2). In contrast, the moment of inertia of the actuator of the present disclosure is greatly reduced (right, present invention).
- a configuration in which a first actuator (actuator of the present disclosure), a second actuator, and a third actuator are connected in series is illustrated.
- a configuration in which a first actuator (actuator of the present disclosure), a second actuator, and a third actuator are connected in parallel is illustrated.
- FIG. 3 shows a block diagram when speed control of a servomotor is performed by a speed controller;
- 1 is a front view of an exemplary radial gap type in-link actuator;
- FIG. 4 is a rear view of an exemplary radial gap type in-link actuator;
- FIG. 4 is a cross-sectional view of an exemplary radial gap in-link actuator;
- FIG. 4 is a cross-sectional view of an exemplary radial gap in-link actuator;
- FIG. 4 is a front view of an exemplary radial gap in-link actuator with an integral shaft with a rotor link;
- FIG. 4 is a rear view of an exemplary radial gap in-link actuator with an integral shaft with a rotor link;
- FIG. 4 is a cross-sectional view of an exemplary radial gap in-link actuator with an integral shaft with a rotor link;
- FIG. 4 is a cross-sectional view of an exemplary radial gap in-link actuator with an integral shaft with a rotor link;
- 1 is a front view of an exemplary axial gap type in-link actuator;
- FIG. 4 is a cross-sectional view of an exemplary axial gap type in-link actuator;
- FIG. 4 is a cross-sectional view of an exemplary axial gap type in-link actuator;
- FIG. 4 is a cross-sectional view of an exemplary axial gap type in-link actuator;
- FIG. 4 is a cross-sectional view of an exemplary axial gap type in-link actuator;
- 4 shows the rotation angle of an axial gap type in-link actuator. This configuration allows the rotor to rotate left and right. 4 shows the rotation angle of an axial gap type in-link actuator.
- the present disclosure is an electric motor having a stator and a rotor, wherein a first link is provided with a link portion on the stator and a second link is provided with a link portion on the rotor. and an electric motor.
- the present disclosure provides an electric motor with a stator having a first link and a rotor having a second link.
- this configuration can also be referred to as an electric motor with a first link having a stator and a second link having a rotor.
- the present disclosure disposes the rotor within the stator such that the rotor rotates within the stator such that the first link is relative to the second link.
- the links and actuators are integrated.
- the actuator of the present disclosure has the link attached to the electric motor.
- such an electric motor or link may be referred to as an in-link actuator in this specification.
- conventional actuators in which the motor is located outside the link are sometimes referred to herein as outlink actuators for convenience.
- An electric motor has a stator and a rotor.
- a stator also called a stator, is a fixed member of an electric motor. The stator is thus the fixed armature or field of the electric motor.
- a rotor also called a rotor, is the rotating magnetic field or armature of an electric motor.
- a rotor usually turns a shaft to transmit rotational force.
- Rotors include, but are not limited to, squirrel cages, special cages, wire wounds, and permanent magnets.
- the rotor may be an inner rotor, an outer rotor, or a flat rotor.
- the stator is provided with a first link and the rotor is provided with a second link.
- the second link provided with the link portion on the rotor is sometimes referred to as a rotor link for convenience.
- the first link in which the link portion is provided on the stator is sometimes referred to as a stator link for convenience.
- this is an expression for convenience when viewing the first link and the second link as a set, and does not prevent the rotor link from being provided with a separate rotor or stator, rather than a fixed rotor link. It does not prevent providing another stator or rotor in the child link.
- a second rotor may be provided on the non-stator side of the stator link (the first link).
- the electric motor constituted by the stator link (first link) and the rotor link (second link) is assumed to be the first electric motor (or first actuator), and the second rotor and another Let the electric motor which the 2nd stator comprises be a 2nd electric motor (or 2nd actuator).
- the first link can be called a stator link when viewed from the first electric motor side, and can be called a rotor link when viewed from the second electric motor side.
- the side without the stator of the first link can be fixed to another fixed part. That is, in one embodiment, the present disclosure provides an actuator characterized in that the non-stator side of the first link is fixed to another fixed portion. Also, the non-rotor side of the second link can be fixed to another fixed part. That is, in one embodiment, the present disclosure provides an actuator characterized in that the non-rotor side of the second link is fixed to another fixed portion.
- the fixed part means a fixed part that is fixed and does not move, or a fixed part that moves itself, for example, a fixed part that moves or rotates. In other words, it does not mean that the fixed part itself is fixed, and any means for fixing the link may be used.
- a second stator may be provided on the side of the second link without the rotor, or a second rotor may be provided. That is, in one embodiment, the present disclosure provides an actuator characterized by a second stator on the non-rotor side of the second link. In some embodiments, the present disclosure also provides an actuator characterized by a second rotor on the non-rotor side of the second link. Conversely, a second stator may be provided on the statorless side of the first link, or a second rotor may be provided. That is, in one embodiment, the present disclosure provides an actuator characterized by a second stator on the non-stator side of the first link.
- the present disclosure also provides an actuator characterized by a second rotor on the non-stator side of the first link.
- the side of the link without the stator is sometimes referred to as the end opposite to the end with the stator.
- the side of the link without the rotor may be referred to as the end opposite to the end with the rotor.
- a third link provided with a link portion may be further connected to the second rotor rotated by the second stator. That is, in one embodiment, the present disclosure provides an actuator characterized by comprising a third link provided with a link portion on a second rotor rotated by a second stator. In another embodiment, the present disclosure provides an actuator characterized by comprising a third link having a link portion on a second stator rotated by a second rotor.
- Electric motors include direct current motors (DC motors), alternating current motors (AC motors), induction motors (IM) and synchronous motors (SM).
- DC motors include, but are not limited to, DC commutator motors, permanent magnet field commutator motors, electromagnetic field commutator motors, and commutatorless motors.
- the DC motor may be of the inner rotor type or the outer rotor type.
- the DC motor may be a brushed motor, a brushless motor, or a stepping motor.
- AC motors include, but are not limited to, induction motors and synchronous motors.
- induction motors include, but are not limited to, single-phase induction motors, three-phase induction motors, and the like.
- Synchronous motors include, but are not limited to, electromagnet synchronous motors, permanent magnet synchronous motors, reluctance synchronous motors, and hysteresis synchronous motors.
- the actuator of the present disclosure can be used for manipulators. That is, in one embodiment, the present disclosure is an electric motor having a stator and a rotor, wherein a first link is provided with a link portion on the stator and a second link portion is provided on the rotor. An actuator having an electric motor with a link is provided. Also, in some embodiments, the present disclosure provides a manipulator having the actuator. A manipulator may have one actuator, or may have two or more actuators. A manipulator having two or more actuators is sometimes referred to herein as a multi-degree-of-freedom manipulator. In some embodiments, a multi-degree-of-freedom manipulator is provided having one or more actuators of the present disclosure (first actuator) and one or more another actuator (second actuator).
- a second actuator is a term of convenience and may be a conventional actuator or the actuator of the present disclosure.
- the first actuator is connected in series with the second actuator.
- the first actuator is coupled in parallel with the second actuator.
- the third, fourth, fifth, . . . nth actuators can be connected in series and/or in parallel (n is a natural number).
- a method of using an electric motor, actuator or manipulator of the disclosure is provided.
- an electric motor is electrically controlled to rotate an actuator.
- the manipulators of the present disclosure can have configurations that conventional manipulators typically have.
- manipulators of the present disclosure may have control mechanisms or controllers, wiring, sensors, and the like.
- the present disclosure provides an electric motor with a stator and a rotor, in which the stator is provided with a link to form a first link and the rotor is provided with a link to form a second link.
- a manufacturing method is provided.
- the present disclosure also provides a method of manufacturing an actuator having such an electric motor, and a method of manufacturing a manipulator having the actuator.
- the present disclosure provides a method of manufacturing a multi-degree-of-freedom manipulator having multiple actuators, comprising coupling the manufactured actuator to another actuator.
- the inertia of the entire link actuator By adopting the structure of the present disclosure, it is possible to reduce the inertia of the entire link actuator. This low inertia is more effective when configuring a multi-degree-of-freedom actuator using the link actuator according to the present disclosure.
- a two-link actuator when configuring a two-link actuator, it is possible to reduce the torque required to drive this one link. When the required torque is reduced, the weight of the magnets and the amount of coils required are also reduced, leading to weight reduction of the motor portion. Therefore, the inertia of the two-link actuator is also reduced. Furthermore, for example, in order to increase the degree of freedom, even when connecting 3, 4, 5, ... n links (n is a natural number), it is possible to reduce the inertia in the same way. Advantageous.
- the in-link actuator reduces the number of parts compared to the conventional one.
- a conventional link actuator requires a link, a motor, a shaft for the link, and a coupling.
- the link includes the motor, and the axis of the motor is common to the axis of the link, eliminating the need for a coupling. This reduces the number of parts used in the link actuator.
- the electric motor of the present disclosure does not have gears (that is, reduction gears) connected to the motor portion.
- the actuators of the present disclosure do not have gears. Note that this is for one actuator of the present disclosure, not the entire device. For example, when an actuator of the present disclosure is incorporated into a multi-degree-of-freedom manipulator, it does not mean that the entire multi-degree-of-freedom manipulator, including other actuators, must have no gears. Rather, it means that the actuator portion of the present disclosure in the multi-degree-of-freedom manipulator does not have gears, and other portions in the multi-degree-of-freedom manipulator (which may include conventional actuators) may have gears.
- the actuator of the present disclosure when the actuator of the present disclosure is incorporated in a multi-degree-of-freedom manipulator, the actuator of the present disclosure (first actuator) does not have gears, but the other actuator (second actuator) has gears. provided in this disclosure. Further provided is a multi-degree-of-freedom manipulator comprising an actuator of the disclosure without gears (first actuator) and another actuator of the disclosure without gears (second actuator).
- the present disclosure provides a radial gap type in-link actuator.
- a radial gap type in-link actuator has a radial gap motor.
- the gap between the rotor and stator is configured so that it is radial (ie parallel to the axis of rotation) from the plane in which the axis of rotation rotates.
- the in-link actuator of FIG. 1C is an example of a radial gap type in-link actuator.
- the magnets included in the magnet section can be arranged as appropriate.
- the coils of the coil section are exemplary arrangements.
- the shaft can be integrated with the rotor link.
- An example of a radial gap type in-link actuator in which the shaft is integrated with the rotor link is shown in FIGS. 16A-C.
- the rotor link integral with the shaft can be manufactured by, for example but not limited to, a 3D printer.
- an axial gap type in-link actuator has an axial gap motor.
- An axial gap motor is also called an axial flux motor or a pancake motor.
- the gap between the rotor and stator is configured so that it is parallel to the plane in which the shaft rotates (that is, perpendicular to the shaft). This geometry makes it easy to make axial gap motors thin.
- the stator or rotor can be embedded within the link.
- FIG. 17B illustrates a configuration in which both sides of the coil are supported by stators.
- the arrangement of the coils is not limited to this.
- two sets of coils may be arranged on both sides of the stator (that is, on the upper and lower surfaces of the central rotating disk).
- the placement of magnets and coils may be interchanged with respect to FIGS. 15A-D, 16A-C, and 17A-F.
- FIG. 15C if the magnets and coils are interchanged, the stator 1 will have the magnet portion 4 and the rotor 2 will have the coil portion 3 .
- FIG. 16C Moreover, the same applies to FIG. 17B.
- FIG. 15B Such aspects are also included in the present disclosure.
- Figures 17E and 17F show the rotation angle of the rotor of the axial gap type in-link actuator.
- the configuration of FIG. 17E allows the rotor to rotate left and right.
- the rotation angle of the rotor can be increased by forming the stator link into a partially cut shape.
- the motors can be radial gap motors. In another embodiment, for the various electric motors and actuators disclosed herein, the motors can be axial gap motors.
- Comparative Example 1 - Actuator with Coupling Conventional link actuators employ a technique in which the motor is attached to the outside of the joint of the link. When the motor is attached to the outside of the joint of the link, the link part and the motor are connected, so the shaft of the link and the shaft of the motor are connected by a coupling. An example of such a configuration is shown in FIG. 1A.
- Comparative Example 2 - Actuator with No Coupling but Motor Outside of Link It is desirable not to use gears for precise force control. Therefore, as a link that does not use gears, there is a conventional method in which a motor is attached to the outside of the joint portion of the link. An example of such a configuration is shown in FIG. 1B.
- Actuator of the present disclosure in-link actuator
- the axis of the link and the axis of the motor are used as a common axis without using a coupling.
- a model of this link actuator is shown in FIG. 1C. That is, the links of the present disclosure have no coupling.
- the link of the present disclosure has the motor located inside the link rather than mounted on the outside of the link.
- a brushless DC motor is embedded in the link.
- the tip of one link and the stator of the motor are integrated (stator link), and the tip of the other link and the rotor of the motor are integrated. are integrated (rotor link).
- a top view of a model of the stator link is shown in FIG. 2 and a perspective view is shown in FIG.
- a top view of a rotor link model is shown in FIG. 4, and a perspective view thereof is shown in FIG.
- FIG. 6 shows an example of winding a 9-slot coil. Wind 3 coils for 9 slots.
- the winding method from the point marked with A, the first slot is wound clockwise, and then the next slot is wound counterclockwise. Then wrap clockwise around the third slot. Apply this winding method to B and C as well. Then, connect one end of the three coils together so that the current can flow to the other end.
- the results of winding coils on the stator link using this method are shown in FIG.
- the number of slots of the stator is not limited to this, and when three coils are used, it can be 6 slots, 12 slots, or the like. Also, when using two coils, it can be 2 slots, 4 slots, 6 slots, 8 slots, 10 slots, 12 slots, etc., but is not limited to this.
- FIG. 8 shows how the magnets are arranged on the rotor.
- an NS arrangement was adopted in which the NS poles of the magnets are arranged alternately.
- the arrow in the figure points from the S pole to the N pole.
- FIG. 9 shows the result of embedding the magnets in the rotor link using this magnet arrangement method. Note that the number and arrangement of magnet poles are not limited to this, and can be appropriately designed in accordance with the coil.
- Fig. 1C shows an example of a one-link actuator that combines this stator link and rotor link.
- the rotor is arranged on the outer link portion of the link and the stator is arranged on the inner link portion of the link, but the actuator of the present disclosure is not limited to this.
- the rotor may be arranged on the inner link portion of the links and the stator may be arranged on the outer link portion of the links.
- the difference in inertia between the in-link actuator of the present disclosure and the conventional out-link actuator was measured.
- the three types of actuators were placed vertically, and each actuator was connected to a base so as to rotate (yawing) when viewed from the Z-axis direction.
- the base is connected to a motor, and the base rotates when the motor is driven. These configurations are shown in FIGS. 10A and 10B.
- FIG. 14 shows a block diagram when speed control of the servomotor is performed by the speed controller.
- ⁇ ref is the speed reference value
- ⁇ is the speed response value
- ⁇ ref is the torque reference value
- ⁇ is the output torque
- i ref is the current reference value
- K p is the proportional gain
- K tn is the nominal value of the torque constant of the motor
- K t is the torque constant of the motor
- J is the moment of inertia of the servomotor
- s is the Laplace operator.
- the system in FIG. 14 is a first-order lag system, and its step response Laplace transform f(s) and time constant T are shown below.
- the time constant T is obtained from the data of the steady-state value and the response value.
- Velocity steady-state and response values can be measured from an encoder attached to the motor.
- the motor used in this experiment is an AC (Alternating Current) direct drive servomotor (SGMCS-02BDC41; Yaskawa) (hereinafter referred to as DD motor).
- the DD motor is driven by a dedicated driver (SGDV2R1F; Yaskawa).
- this DD motor has an encoder with 20-bit resolution.
- the DD motor controller is implemented in a general-purpose computer with an Intel Core TM i7-870 (Intel Corp.) processor.
- the program runs on Linux v. 26.32.2 with Realtime Application Interface (RTAI3.7) installed.
- the controller is called with a period of 10 kHz.
- the base and each link actuator were produced using a 3D printer (Mark Two; Markforged Inc.). Onyx was used as the filament.
- FIG. 10A shows a device in which a base for attaching a link actuator to a DD motor is attached.
- a speed step input (command value is 3.14 rad/s) was applied to the DD motor, and the time constant was measured from the response value.
- the combined moment of inertia of the DD motor and the base, J m +b about the axis of rotation of the DD motor is identified.
- a conventional link and the link actuator of the present disclosure are then attached to the base.
- the speed command value is input in the same manner as above, and the moment of inertia J all around the rotation axis of the DD motor is obtained by combining the DD motor, the base, and the link actuator.
- the first is a coupling that connects the shaft of the link and the shaft of the motor.
- the motor was manufactured under the same conditions as the motor embedded inside the link actuator of the present disclosure (size, magnets, coils, number of coil turns, etc.).
- the coupling is covered with 3D printer parts. This part connects the stator of the motor and one side of the link to transmit the rotation of the motor to the link.
- the link actuator installed in the first one is improved, and the link shaft and the motor shaft are made common. This improvement makes it possible to reduce the overall inertia of the link actuator.
- FIG. 10B right is the in-link actuator of the present disclosure.
- FIG. 10B A device equipped with these three types of link actuators is shown in Fig. 10B.
- the measurement was performed 10 times for each link actuator, and the moment of inertia was obtained by averaging the measurements.
- the mass is larger in order of the conventional method (with coupling), the conventional method (without coupling), and the link actuator of the present disclosure.
- the conventional method (with coupling) has a coupling and uses two shafts.
- the mass is larger than that of the proposed method because the motor parts exist separately from the link.
- Fig. 11 shows the moment of inertia.
- the actuator with a conventional coupling (FIG. 10B left) had the highest moment of inertia.
- a certain amount of moment of inertia was also found in the conventional actuator (FIG. 10B center), which does not have a coupling, but where the motor is located on the outside of the link.
- the moment of inertia of the in-link actuator of the present disclosure is significantly reduced (Fig. 10B right).
- the actuator of the present disclosure has an 88% reduced moment of inertia compared to a conventional actuator with a coupling, and a conventional actuator without a coupling but with a motor located outside the link.
- the moment of inertia was reduced by 68% compared to the actuator of
- a radial gap type in-link actuator was prototyped in which the shaft was integrated with the rotor link. Also in this configuration, the stator link 1 has the coil portion 3 and the rotor link 2 has the magnet portion 4 . Moreover, the shaft and the rotor link are integrated, so the rotor link 2 serves as the shaft. A bearing 6 may be arranged between the stator link 1 and the rotor link 2 .
- an in-link actuator having an axial gap motor shown in FIGS. 17A to 17F was prototyped.
- the motor can be made thinner.
- the rotor link can be arranged directly above the stator link when viewed from the lateral view (see FIG. 17B). Therefore, the axial gap type in-link actuator can further reduce the moment of inertia compared to the radial gap type in-link actuator.
- the method of placing the motor inside the link can have the drawback of increasing the outer diameter of the link itself. For this reason, it is thought that the design of arranging the motor inside the link was not taken into account or was difficult to adopt in the design of conventional actuators.
- stator and rotor of the motor are respectively embedded in the link and divided into the stator link that plays the role of the stator and the rotor link that plays the role of the rotor.
- the actuator of the present disclosure can be used for manipulators.
- actuators of the present disclosure may be used in multi-degree-of-freedom manipulators.
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Abstract
Description
[1] 固定子を有する第1のリンクと、回転子を有する第2のリンクとを備えた電動モータ。
[2] 前記回転子が前記固定子の中に配置されており、前記回転子が前記固定子の中で回転することにより、第1のリンクが第2のリンクに対して相対運動する、又は、
前記固定子が前記回転子の中に配置されており、前記回転子が前記回転子の中で回転することにより、第1のリンクが第2のリンクに対して相対運動する、
ことを特徴とする、実施形態1に記載の電動モータ。
[3] モータがラジアルギャップモータである、実施形態1又は2に記載の電動モータ。
[4] モータがアキシャルギャップモータである、実施形態1又は2に記載の電動モータ。
[5] 実施形態1~4のいずれかに記載の電動モータを有する、アクチュエータ。
[6] 前記第1のリンクの固定子がある端部とは反対側の端部を他の固定部に固定したことを特徴とする、実施形態5に記載のアクチュエータ。
[7] 前記第2のリンクの回転子がある端部とは反対側の端部を他の固定部に固定したことを特徴とする、実施形態5に記載のアクチュエータ。
[8] 前記第2のリンクの回転子がある端部とは反対側の端部に第2の固定子を設けたことを特徴とする、実施形態5又は6に記載のアクチュエータ。
[9] 前記第2のリンクの回転子がある端部とは反対側の端部に第2の回転子を設けたことを特徴とする、実施形態5又は6に記載のアクチュエータ。
[10] 前記第1のリンクの固定子がある端部とは反対側の端部に第2の固定子を設けたことを特徴とする、実施形態5又は7に記載のアクチュエータ。
[11] 前記第1のリンクの固定子がある端部とは反対側の端部に第2の回転子を設けたことを特徴とする、実施形態5又は7に記載のアクチュエータ。
[12] 前記第2の固定子によって回転させる第2の回転子にリンク部を設けた第3のリンクを備えることを特徴とする、実施形態8又は10に記載のアクチュエータ。
[13] 前記第2の回転子によって回転させる第2の固定子にリンク部を設けた第3のリンクを備えることを特徴とする、実施形態9又は11に記載のアクチュエータ。
[14] 実施形態5乃至13のいずれかに記載のアクチュエータを、他のアクチュエータに直列に接続することを特徴とする、実施形態5乃至13のいずれかに記載のアクチュエータ。
[15] 実施形態5乃至13のいずれか1項に記載のアクチュエータを、他のアクチュエータに並列に接続することを特徴とする、実施形態5乃至13のいずれかに記載のアクチュエータ。
[16] ギアを有しない実施形態1~4のいずれかに記載の電動モータ、又はギアを有しない実施形態5乃至15のいずれかに記載のアクチュエータ。
[17] 実施形態1、2、3、4若しくは16に記載の電動モータ、又は実施形態5乃至16のいずれかに記載のアクチュエータを用いる方法。
[18] 固定子にリンク部を設けて第1のリンクとし、
回転子にリンク部を設けて第2のリンクとする、
固定子と回転子とを備えた電動モータの製造方法。
[19] モータがラジアルギャップモータである、実施形態18に記載の製造方法。
[20] モータがアキシャルギャップモータである、実施形態18に記載の製造方法。
[21] 電動モータがギアを有しない、実施形態18~20のいずれかに記載の製造方法。
本開示のアクチュエータの特徴がより明らかとなるよう、まず従来のアクチュエータから説明する。
従来型リンクアクチュエータでは、モータをリンクの関節部の外側に取り付ける手法が用いられている。モータをリンクの関節部の外側に取り付ける際、リンク部品とモータとをつなぐことになるため、リンクの軸とモータの軸をカップリングによって接続する。そのような構成の例を図1Aに示す。
精密な力制御を行うためにはギアを使用しないことが望ましい。そこでギアを使用しないリンクとして、モータをリンクの関節部の外側に取り付けする従来法がある。そのような構成の例を図1Bに示す。
本開示ではカップリングを用いずにリンクの軸とモータの軸とを共通の軸としている。このリンクアクチュエータのモデルを図1Cに示す。すなわち、本開示のリンクは、カップリングを有しない。本開示のリンクは、モータが、リンクの外側に取付されておらず、リンク内部に配置されている。
本実験にて用いたモータはAC(Alternating Current)のダイレクトドライブサーボモータ(SGMCS-02BDC41; Yaskawa)(以下DD モータ)である。DDモータは専用ドライバ(SGDV2R1F; Yaskawa)により駆動される。また、このDDモータは20bitの分解能を持つエンコーダを有する。DDモータの制御器はIntel CoreTM i7-870(Intel Corp.)プロセッサを持つ汎用計算機に実装されている。プログラムはRealtime Application Interface(RTAI3.7)がインストールされたLinux(登録商標) v. 26.32.2上で実行される。制御器は10 kHzの周期で呼び出される。
本実験で作製した各リンクアクチュエータの質量は、従来法(カップリングあり)が0.194 kg、従来法(カップリングなし)が0.137 kg、本開示のリンクアクチュエータが0.117 kgとなった。
本明細書で引用した全ての刊行物、特許及び特許出願はそのまま引用により本明細書に組み入れられるものとする。
2 回転子リンク
3 コイル部
4 磁石部
5 軸
6 ベアリング
Claims (21)
- 固定子を有する第1のリンクと、回転子を有する第2のリンクとを備えた電動モータ。
- 前記回転子が前記固定子の中に配置されており、前記回転子が前記固定子の中で回転することにより、第1のリンクが第2のリンクに対して相対運動する、又は、
前記固定子が前記回転子の中に配置されており、前記回転子が前記回転子の中で回転することにより、第1のリンクが第2のリンクに対して相対運動する、
ことを特徴とする、請求項1に記載の電動モータ。 - モータがラジアルギャップモータである、請求項1又は2に記載の電動モータ。
- モータがアキシャルギャップモータである、請求項1又は2に記載の電動モータ。
- 請求項1~4のいずれか一項に記載の電動モータを有する、アクチュエータ。
- 前記第1のリンクの固定子がある端部とは反対側の端部を他の固定部に固定したことを特徴とする、請求項5に記載のアクチュエータ。
- 前記第2のリンクの回転子がある端部とは反対側の端部を他の固定部に固定したことを特徴とする、請求項5に記載のアクチュエータ。
- 前記第2のリンクの回転子がある端部とは反対側の端部に第2の固定子を設けたことを特徴とする、請求項5又は6に記載のアクチュエータ。
- 前記第2のリンクの回転子がある端部とは反対側の端部に第2の回転子を設けたことを特徴とする、請求項5又は6に記載のアクチュエータ。
- 前記第1のリンクの固定子がある端部とは反対側の端部に第2の固定子を設けたことを特徴とする、請求項5又は7に記載のアクチュエータ。
- 前記第1のリンクの固定子がある端部とは反対側の端部に第2の回転子を設けたことを特徴とする、請求項5又は7に記載のアクチュエータ。
- 前記第2の固定子によって回転させる第2の回転子にリンク部を設けた第3のリンクを備えることを特徴とする、請求項8又は10に記載のアクチュエータ。
- 前記第2の回転子によって回転させる第2の固定子にリンク部を設けた第3のリンクを備えることを特徴とする、請求項9又は11に記載のアクチュエータ。
- 請求項5乃至13のいずれか1項に記載のアクチュエータを、他のアクチュエータに直列に接続することを特徴とする、請求項5乃至13のいずれか1項に記載のアクチュエータ。
- 請求項5乃至13のいずれか1項に記載のアクチュエータを、他のアクチュエータに並列に接続することを特徴とする、請求項5乃至13のいずれか1項に記載のアクチュエータ。
- ギアを有しない請求項1~4のいずれか一項に記載の電動モータ、又はギアを有しない請求項5乃至15のいずれか1項に記載のアクチュエータ。
- 請求項1、2、3、4若しくは16に記載の電動モータ、又は請求項5乃至16のいずれか1項に記載のアクチュエータを用いる方法。
- 固定子にリンク部を設けて第1のリンクとし、
回転子にリンク部を設けて第2のリンクとする、
固定子と回転子とを備えた電動モータの製造方法。 - モータがラジアルギャップモータである、請求項18に記載の製造方法。
- モータがアキシャルギャップモータである、請求項18に記載の製造方法。
- 電動モータがギアを有しない、請求項18~20のいずれか一項に記載の製造方法。
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