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.
%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
}