Graduate Thesis Or Dissertation
 

High torque density cycloid electrical machine for robotic application

Public Deposited

Downloadable Content

Download PDF
https://ir.library.oregonstate.edu/concern/graduate_thesis_or_dissertations/wm117t864

Descriptions

Attribute NameValues
Creator
Abstract
  • This thesis investigates a novel cycloid electric machine that integrates both cycloid gear drive and permanent magnet synchronous machine (PMSM), and proposes to apply the machine in robotic transmission system. Cycloid gear drive is a transmission device that is commonly used to boost up the output torque. It has been widely applied in many industrial applications including ship power transmission, robotic actuation, hybrid electric vehicle and renewable energy due to advantages of high mechanical efficiency, low backlash, compact size and high ratio mechanical transmission. The structure of cycloid gear is different from common gears which engage externally, it engages internally and operates in cycloidal motion. In robotic industry, requirements on compact size and high transmission ratio result in the application of cycloid gear drives. Chapter 2 would introduce it in detail. Synchronous electric machine has been widely applied and investigated for more than a century. In industry, synchronous machines are used for power generating, electric power drive and many other electro-mechanical transformations. In particular, permanent magnet synchronous machine (PMSM) is the most common one because the control strategy is relatively simple with the help of booming power electronics. Commonly, PMSM is used as mechanical power input in robotic industry. Chapter 3 would elaborate it. Typical human-sized legged locomotion needs an output torque around 300 N∙m to accomplish motions. The direct drive design uses only one high-torque electric machine with multi-stage transmission cannot meet the size and weight requirement of the leg actuation. This research proposes a novel cycloid electric machine to replace the conventional motor transmission system. An estimated 40 percent size and weight reduction is expected [19].
  • Keywords: road networks, Siskiyou Mountains, Oregon, Phytophthora lateralis, Port-Orford-cedar, spatial epidemiology, landscape disturbance, timber harvest
License
Resource Type
Date Available
Date Issued
Degree Level
Degree Name
Degree Field
Degree Grantor
Commencement Year
Advisor
Committee Member
Academic Affiliation
Non-Academic Affiliation
Rights Statement
Publisher
Peer Reviewed
Language
Replaces

Relationships

Parents:

This work has no parents.

In Collection:

Items

Thumbnail Title Date Uploaded Visibility Actions
file details LiuRui2017.pdf 2017-11-08 Public Download