%0 Conference Paper %1 Keller.2016b %A Keller, Marina %A Müller, Samuel %A Parspour, Nejila %B 2016 International Symposium on Power Electronics, Electrical Drives, Automation and Motion (SPEEDAM) %C Piscataway, NJ %D 2016 %I IEEE %K IEW{\_}Konferenzbeitr{\"a}ge Robotik Transverse_Flux_Machines hp_iew %P 849--854 %R 10.1109/SPEEDAM.2016.7525850 %T Design of a transverse flux machine as joint drive for an articulated six-axis robot arm %X This paper presents requirements on a articulated robot arm in service robotics and the derivation of requirements on a single joint of this arm. A modular concept with joint modules, each one realizing one axis of the robot arm connected by intermediate elements is proposed. Furthermore, the integration of a permanent magnet excited transverse flux machine as joint drive in this application is discussed. Transverse flux machines typically offer a high torque density at low speed. As torque demand increases from wrist to shoulder joint and speed demand decreases at the same time, this paper concentrates on the design of a shoulder joint module, where the integration of a transverse flux machine seems to be most promising. A design of a transverse flux machine as drive of an exemplary shoulder joint is proposed and results from a three dimensional finite element simulation are presented. %@ 978-1-5090-2067-6

@inproceedings{Keller.2016b, abstract = {This paper presents requirements on a articulated robot arm in service robotics and the derivation of requirements on a single joint of this arm. A modular concept with joint modules, each one realizing one axis of the robot arm connected by intermediate elements is proposed. Furthermore, the integration of a permanent magnet excited transverse flux machine as joint drive in this application is discussed. Transverse flux machines typically offer a high torque density at low speed. As torque demand increases from wrist to shoulder joint and speed demand decreases at the same time, this paper concentrates on the design of a shoulder joint module, where the integration of a transverse flux machine seems to be most promising. A design of a transverse flux machine as drive of an exemplary shoulder joint is proposed and results from a three dimensional finite element simulation are presented.}, added-at = {2022-10-25T14:13:37.000+0200}, address = {Piscataway, NJ}, author = {Keller, Marina and M{\"u}ller, Samuel and Parspour, Nejila}, biburl = {https://puma.ub.uni-stuttgart.de/bibtex/2ac3181ecb675a9359a380a51a8a4f67c/iew_homepage}, booktitle = {{2016 International Symposium on Power Electronics, Electrical Drives, Automation and Motion (SPEEDAM)}}, doi = {10.1109/SPEEDAM.2016.7525850}, interhash = {1c88af0f558388375598d3a57518f47b}, intrahash = {ac3181ecb675a9359a380a51a8a4f67c}, isbn = {978-1-5090-2067-6}, keywords = {IEW{\_}Konferenzbeitr{\"a}ge Robotik Transverse_Flux_Machines hp_iew}, pages = {849--854}, publisher = {IEEE}, timestamp = {2022-10-25T12:14:06.000+0200}, title = {{Design of a transverse flux machine as joint drive for an articulated six-axis robot arm}}, year = 2016 }