Investigation on the Measurement Method for Output Torque of a Spherical Motor

Round 1

Reviewer 1 Report

Hello,

I would suggest that the introduction, or description of the problem needs a little bit of work. I had to read it a few times to grasp what piece turns within what piece, and so on. It may be more familiar to others, however.

Fig 13 and Fig 14 have the same caption, I don't think this is right. Based on logical progression, I would have expected to see 13 as angular rate, 14 as angular acceleration, and one more figure for torque?

Where is Fig. 16?

There is a lot of error in Fig 15, but this is then compensated in Fig 17. This is reasonable, but I am a bit confused in where the error is coming from. The outputs appear to have one gradient up to 3.6A, and then another gradient up to 5.7A. I thought at first that this was an artifact of different responses on spin-up and spin-down, and this was being reflected over time, but no, these are not time-progressive series. Plus, the torques in Fig 17 are all positive... yet in Fig 14 some are positive and some are negative? 

So, overall, really interesting work, but I became a bit confused early on (but recovered), but the experimental validation lost me a little.

 

Thanks

 

 

Author Response

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Author Response File: Author Response.docx

Reviewer 2 Report

-Rather develop and describe a proper measurement methodology that can be used as guideline to ensure repeatability

-Further elaborate on the manual sensor installation , how it should be conducted and how errors can be detected and avoided

-Apply the method to measurements under load conditions and different modes of motion

-23% error is a lot. Consider a more sophisticated friction measurement and improve error compensation

-lines 36-40: follow the English editing guidelines. Do not start a sentence with “[1] ...”, rather “Author [1] ...”

-Table 3: I=3.3 A: error % too low

-where is Figure 16?

-where is the friction measurement data?

-different style of axis labeling in Figures 5, 15, 17 and 11, 12, 13, 14: (unit); /unit

-Figure 10: I suspect the mentioned formula numbers on the left branch to be partly incorrect

-Figure 6: screen labeled as computer

-have a native English speaker correct grammar mistakes

 

Author Response

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Author Response File: Author Response.docx

Round 2

Reviewer 1 Report

Thank you for your comprehensive edits, I think this looks very good now.

I hope your team remains well in these times.

Author Response

Dear editors and reviewers,

 

The authors would like to thank the editors and anonymous reviewers for very constructive and detailed comments that have helped us improve the paper. All the comments and suggestions have been carefully considered in the revised manuscript.

 

All changes to the manuscript have been highlighted with the BLUE and PURPLE color. The text in BLUE is for Round 1 and the text in PURPLE is for Round 2. Several grammar and formatting mistakes are corrected in Round 2.

 

We appreciate the editors and the reviewers again for the constructive comments and hope the revisions are satisfactory.

 

Best regards.

Reviewer 2 Report

Dear authors,

thank you for the revised version of your paper and further explanations on your research given in the cover letter. Content and language of the paper have been improved. The measurement method is now properly described.

There is still some further revision necessary regarding English editing. I compiled a short list of mistakes I noticed. It might not be complete, please conduct further spell-checking.

Grammar: l. 14: “it is difficulty”; l. 32 “practitioners as multi-DOF”; l. 35 “proposed the methods” (remove ‘the’); l. 165: “remain challenge” (remaining); l. 242 “makes the” (causes); l. 267 “remained errors” (remaining error); 

Typos: l. 33 “indicator” (indicators); l. 275 “toque”

English editing: l. 103, l. 194, l. 225-227, l. 250-251: no space between number and unit (5.42A instead of 5.42 A); l. 124-131: different formatting of “Figure 7(a)”, “Figure7(b)”, “Figure 7 (b)”

Author Response

Please see the attachment.

Author Response File: Author Response.docx