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 j...Show MoreMetadata
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.
Published in: 2016 International Symposium on Power Electronics, Electrical Drives, Automation and Motion (SPEEDAM)
Date of Conference: 22-24 June 2016
Date Added to IEEE Xplore: 01 August 2016
ISBN Information:
Institute of Electrical Energy Conversion, University of Stuttgart, Stuttgart, Germany
Marina Keller was born in Künzelsau in the Federal Republic of Germany, on August 5, 1986. She studied Electrical Engineering at the University of Stuttgart from 2006 to 2011. Since 2011 she works as a research associate at the Institute of Electrical Energy Conversion at the University of Stuttgart, where she started her PhD.
Analytical modelling and design of transverse flux machines belong to her special fields of inter...Show More
Marina Keller was born in Künzelsau in the Federal Republic of Germany, on August 5, 1986. She studied Electrical Engineering at the University of Stuttgart from 2006 to 2011. Since 2011 she works as a research associate at the Institute of Electrical Energy Conversion at the University of Stuttgart, where she started her PhD.
Analytical modelling and design of transverse flux machines belong to her special fields of inter...View more
Institute of Electrical Energy Conversion, University of Stuttgart, Stuttgart, Germany
Samuel Müller was born in Böblingen in the Federal Republic of Germany, on January 25, 1988. He received his Bachelor degree in Industrial Electronics in 2013 at Ulm University of Applied Sciences. Afterwards, he studied Electrical Engineering at the University of Stuttgart and received his Master degree in 2015. Since 2015 he works as a research associate at the Institute of Electrical Energy Conversion at the University...Show More
Samuel Müller was born in Böblingen in the Federal Republic of Germany, on January 25, 1988. He received his Bachelor degree in Industrial Electronics in 2013 at Ulm University of Applied Sciences. Afterwards, he studied Electrical Engineering at the University of Stuttgart and received his Master degree in 2015. Since 2015 he works as a research associate at the Institute of Electrical Energy Conversion at the University...View more
Institute of Electrical Energy Conversion, University of Stuttgart, Stuttgart, Germany
Nejila Parspour is Professor of Electrical Energy Conversion at the University of Stuttgart and head of the Institute of Electrical Energy Conversion (iew). She received her Master in electrical engineering in 1991 and her PhD (summa cum laudae) in 1995, both from Technical University of Berlin. Before joining the University of Stuttgart she collected 5 years of industrial experience at Philips and 6 years of scientific e...Show More
Nejila Parspour is Professor of Electrical Energy Conversion at the University of Stuttgart and head of the Institute of Electrical Energy Conversion (iew). She received her Master in electrical engineering in 1991 and her PhD (summa cum laudae) in 1995, both from Technical University of Berlin. Before joining the University of Stuttgart she collected 5 years of industrial experience at Philips and 6 years of scientific e...View more
Contents Institute of Electrical Energy Conversion, University of Stuttgart, Stuttgart, Germany
Marina Keller was born in Künzelsau in the Federal Republic of Germany, on August 5, 1986. She studied Electrical Engineering at the University of Stuttgart from 2006 to 2011. Since 2011 she works as a research associate at the Institute of Electrical Energy Conversion at the University of Stuttgart, where she started her PhD.
Analytical modelling and design of transverse flux machines belong to her special fields of interest.
Marina Keller was born in Künzelsau in the Federal Republic of Germany, on August 5, 1986. She studied Electrical Engineering at the University of Stuttgart from 2006 to 2011. Since 2011 she works as a research associate at the Institute of Electrical Energy Conversion at the University of Stuttgart, where she started her PhD.
Analytical modelling and design of transverse flux machines belong to her special fields of interest.View more
Institute of Electrical Energy Conversion, University of Stuttgart, Stuttgart, Germany
Samuel Müller was born in Böblingen in the Federal Republic of Germany, on January 25, 1988. He received his Bachelor degree in Industrial Electronics in 2013 at Ulm University of Applied Sciences. Afterwards, he studied Electrical Engineering at the University of Stuttgart and received his Master degree in 2015. Since 2015 he works as a research associate at the Institute of Electrical Energy Conversion at the University of Stuttgart, where he started his PhD.
FEM simulations of electrical machines and modelling of iron loss belong to his special fields of interest.
Samuel Müller was born in Böblingen in the Federal Republic of Germany, on January 25, 1988. He received his Bachelor degree in Industrial Electronics in 2013 at Ulm University of Applied Sciences. Afterwards, he studied Electrical Engineering at the University of Stuttgart and received his Master degree in 2015. Since 2015 he works as a research associate at the Institute of Electrical Energy Conversion at the University of Stuttgart, where he started his PhD.
FEM simulations of electrical machines and modelling of iron loss belong to his special fields of interest.View more
Institute of Electrical Energy Conversion, University of Stuttgart, Stuttgart, Germany
Nejila Parspour is Professor of Electrical Energy Conversion at the University of Stuttgart and head of the Institute of Electrical Energy Conversion (iew). She received her Master in electrical engineering in 1991 and her PhD (summa cum laudae) in 1995, both from Technical University of Berlin. Before joining the University of Stuttgart she collected 5 years of industrial experience at Philips and 6 years of scientific experience at the University of Bremen. Her research and teaching activities are in the field of electrical machines and drives with a focus on machine design and in the field of contactless energy transfer with a focus on inductive charging systems.
Nejila Parspour is Professor of Electrical Energy Conversion at the University of Stuttgart and head of the Institute of Electrical Energy Conversion (iew). She received her Master in electrical engineering in 1991 and her PhD (summa cum laudae) in 1995, both from Technical University of Berlin. Before joining the University of Stuttgart she collected 5 years of industrial experience at Philips and 6 years of scientific experience at the University of Bremen. Her research and teaching activities are in the field of electrical machines and drives with a focus on machine design and in the field of contactless energy transfer with a focus on inductive charging systems.View more
