ICRA 2011 Paper Abstract


Paper WeA109.2

Sensinger, Jonathon (Northwestern University), Clark, Stephen (The Rehabilitation Institute of Chicago), Schorsch, Jack (Rehabilitation Institute of Chicago)

Exterior vs. Interior Rotors in Robotic Brushless Motors

Scheduled for presentation during the Regular Sessions "Novel Actuators I" (WeA109), Wednesday, May 11, 2011, 08:35−08:50, Room 5D

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 14, 2020

Keywords New Actuators for Robotics, Rehabilitation Robotics, Mechanism Design of Manipulators


Many robotic actuators must generate high torques and accelerations. Exterior-rotor brushless motors seem better suited for these tasks than conventional interior-rotor brushless motors. Models of these two motor types were used to calculate benchmarks and evaluate motor performance in simulated tasks for different motor geometries. Exterior-rotor motors had higher motor constants and efficiency, but lower rated power compared with interior-rotor motors. They required less energy to perform typical robotic tasks. Four exterior-rotor motors were fabricated and compared with manufacturing data from the best existing brushless DC motors. The exterior-rotor motors had more than a 250% increase in stall torque density compared with the best known brushless DC motor (RoboDrive) and more than a 740% increase in stall torque density compared with more common motors such as those produced by MicroMo and Maxon. These exterior-rotor motors appear promising for robotic applications.



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