Design of A New Double Side Axial-Flux Actuator for Robot Dog

Rundong Huang; Zaixin Song; Zhiping Dong; Yuxin Liu; Chunhua Liu

doi:10.1109/ICEM51905.2022.9910806

Design of A New Double Side Axial-Flux Actuator for Robot Dog

Rundong Huang
, Zaixin Song
, Zhiping Dong
, Yuxin Liu
, Chunhua Liu^*

^*Corresponding author for this work

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

12 Citations (Scopus)

Abstract

A novel double side axial-flux actuator (DSAFA) is proposed to reduce the volume of the actuator system for robot dogs. It is an axial-flux permanent magnet (AFPM) machine with two rotors and one stator. The pole-slot combinations on two sides of the DSAFA are 24-slot-20-pole and 36-slot-42-pole configurations. They can work independently so that the DSAFA can control the thigh and lower legs at the same time. A quasi-3D finite element method (FEM) is used to analyze the parameters of the DSAFA. Then, a 3D FEM is applied to conduct a parametric study and optimize the geometry. The average torques of the optimal structure are 4.14 Nm and 3.96 Nm, while the torque ripples are reduced to be 0.23 Nm and 0.03 Nm. Finally, the DSAFA shows the same performances when compared with two single-side benchmark AFPM machines.

Original language	English
Title of host publication	2022 International Conference on Electrical Machines (ICEM)
Publisher	IEEE
Pages	900-906
ISBN (Electronic)	9781665414326
ISBN (Print)	9781665414333
DOIs	https://doi.org/10.1109/ICEM51905.2022.9910806
Publication status	Published - 2022
Event	25th International Conference on Electrical Machines (ICEM 2022) - Valencia Conference Centre, Valencia, Spain Duration: 5 Sept 2022 → 8 Sept 2022 https://icem.cc/icem-2022-conference/

Publication series

Name	International Conference on Electrical Machines, ICEM
ISSN (Print)	2381-4802

Conference

Conference	25th International Conference on Electrical Machines (ICEM 2022)
Abbreviated title	ICEM2022
Place	Spain
City	Valencia
Period	5/09/22 → 8/09/22
Internet address	https://icem.cc/icem-2022-conference/

Funding

This work was supported in part by a grant (Project No. 52077186) from the Natural Science Foundation of China (NSFC), China; in part by a grant (Project No. JCYJ20210324134005015) from the Science Technology and Innovation Committee of Shenzhen Municipality, Shenzhen, China; and in part Collaborative Research Fund (Project No. C1052-21GF) from Research Grants Council, Hong Kong SAR.

Research Keywords

3D Finite Element Method
Double Side Axial-Flux Machine
Electric Machine
Independence
Quasi 3D Finite Element Method
Robot Dog
Robotic Actuator

RGC Funding Information

RGC-funded

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10.1109/ICEM51905.2022.9910806

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Cite this

@inproceedings{551e138f07aa41bbb9d2ccde1bcefe87,

title = "Design of A New Double Side Axial-Flux Actuator for Robot Dog",

abstract = "A novel double side axial-flux actuator (DSAFA) is proposed to reduce the volume of the actuator system for robot dogs. It is an axial-flux permanent magnet (AFPM) machine with two rotors and one stator. The pole-slot combinations on two sides of the DSAFA are 24-slot-20-pole and 36-slot-42-pole configurations. They can work independently so that the DSAFA can control the thigh and lower legs at the same time. A quasi-3D finite element method (FEM) is used to analyze the parameters of the DSAFA. Then, a 3D FEM is applied to conduct a parametric study and optimize the geometry. The average torques of the optimal structure are 4.14 Nm and 3.96 Nm, while the torque ripples are reduced to be 0.23 Nm and 0.03 Nm. Finally, the DSAFA shows the same performances when compared with two single-side benchmark AFPM machines.",

keywords = "3D Finite Element Method, Double Side Axial-Flux Machine, Electric Machine, Independence, Quasi 3D Finite Element Method, Robot Dog, Robotic Actuator",

author = "Rundong Huang and Zaixin Song and Zhiping Dong and Yuxin Liu and Chunhua Liu",

year = "2022",

doi = "10.1109/ICEM51905.2022.9910806",

language = "English",

isbn = "9781665414333",

series = "International Conference on Electrical Machines, ICEM",

publisher = "IEEE",

pages = "900--906",

booktitle = "2022 International Conference on Electrical Machines (ICEM)",

address = "United States",

note = "25th International Conference on Electrical Machines (ICEM 2022), ICEM2022 ; Conference date: 05-09-2022 Through 08-09-2022",

url = "https://icem.cc/icem-2022-conference/",

}

Huang, R , Song, Z , Dong, Z , Liu, Y & Liu, C 2022, Design of A New Double Side Axial-Flux Actuator for Robot Dog. in 2022 International Conference on Electrical Machines (ICEM). International Conference on Electrical Machines, ICEM, IEEE, pp. 900-906, 25th International Conference on Electrical Machines (ICEM 2022), Valencia, Spain, 5/09/22. https://doi.org/10.1109/ICEM51905.2022.9910806

Design of A New Double Side Axial-Flux Actuator for Robot Dog. / Huang, Rundong ; Song, Zaixin ; Dong, Zhiping et al.
2022 International Conference on Electrical Machines (ICEM). IEEE, 2022. p. 900-906 (International Conference on Electrical Machines, ICEM).

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

TY - GEN

T1 - Design of A New Double Side Axial-Flux Actuator for Robot Dog

AU - Huang, Rundong

AU - Song, Zaixin

AU - Dong, Zhiping

AU - Liu, Yuxin

AU - Liu, Chunhua

PY - 2022

Y1 - 2022

N2 - A novel double side axial-flux actuator (DSAFA) is proposed to reduce the volume of the actuator system for robot dogs. It is an axial-flux permanent magnet (AFPM) machine with two rotors and one stator. The pole-slot combinations on two sides of the DSAFA are 24-slot-20-pole and 36-slot-42-pole configurations. They can work independently so that the DSAFA can control the thigh and lower legs at the same time. A quasi-3D finite element method (FEM) is used to analyze the parameters of the DSAFA. Then, a 3D FEM is applied to conduct a parametric study and optimize the geometry. The average torques of the optimal structure are 4.14 Nm and 3.96 Nm, while the torque ripples are reduced to be 0.23 Nm and 0.03 Nm. Finally, the DSAFA shows the same performances when compared with two single-side benchmark AFPM machines.

AB - A novel double side axial-flux actuator (DSAFA) is proposed to reduce the volume of the actuator system for robot dogs. It is an axial-flux permanent magnet (AFPM) machine with two rotors and one stator. The pole-slot combinations on two sides of the DSAFA are 24-slot-20-pole and 36-slot-42-pole configurations. They can work independently so that the DSAFA can control the thigh and lower legs at the same time. A quasi-3D finite element method (FEM) is used to analyze the parameters of the DSAFA. Then, a 3D FEM is applied to conduct a parametric study and optimize the geometry. The average torques of the optimal structure are 4.14 Nm and 3.96 Nm, while the torque ripples are reduced to be 0.23 Nm and 0.03 Nm. Finally, the DSAFA shows the same performances when compared with two single-side benchmark AFPM machines.

KW - 3D Finite Element Method

KW - Double Side Axial-Flux Machine

KW - Electric Machine

KW - Independence

KW - Quasi 3D Finite Element Method

KW - Robot Dog

KW - Robotic Actuator

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U2 - 10.1109/ICEM51905.2022.9910806

DO - 10.1109/ICEM51905.2022.9910806

M3 - RGC 32 - Refereed conference paper (with host publication)

SN - 9781665414333

T3 - International Conference on Electrical Machines, ICEM

SP - 900

EP - 906

BT - 2022 International Conference on Electrical Machines (ICEM)

PB - IEEE

T2 - 25th International Conference on Electrical Machines (ICEM 2022)

Y2 - 5 September 2022 through 8 September 2022

ER -

Design of A New Double Side Axial-Flux Actuator for Robot Dog

Abstract

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Research Keywords

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