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Article

Design of a High Torque Density Robot Joint and Analysis of Force Control Method Applied for a Light Exoskeleton

School of Electrical Engineering, Southeast University, Nanjing 210096, China
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Author to whom correspondence should be addressed.
Electronics 2023, 12(2), 397; https://doi.org/10.3390/electronics12020397
Submission received: 13 December 2022 / Revised: 5 January 2023 / Accepted: 11 January 2023 / Published: 12 January 2023
(This article belongs to the Section Power Electronics)

Abstract

In many robotic applications, the joint is required to have a small volume, low weight and high torque output. In this paper, based on the finite element analysis (FEA), a 36-slot 40-pole outer rotor surface-mounted permanent magnet (OR-SPM) motor with concentrated winding is designed for the exoskeleton robot. The fractional slot concentrated winding (FSCW) is employed to reduce end winding height, leading better portability. Since the motor is relatively flat, the 3D end effect is critical to the electromagnetic performances. Special attention is paid to 3D end effect during the multi-objective optimization of the OR–SPM motor. In order to increase the ending torque output, the planetary reducer is located between OR–SPM motor and load, and then system level optimization covering motor and reducer is carried out to achieve best torque output. In addition, the force impendence control method with parameter self-adaptive capability is proposed to improve user experience of the exoskeleton robot, where the key parameters in the algorithm vary according to different actions of the exoskeleton. In addition, the inertia of load is calculated using the parameter identification based on least squares method. Finally, the prototype of the joint is fabricated and tested to validate the above FEA results and control method. The user experience of the exoskeleton robot is also covered.
Keywords: concentrated winding; planetary reducer; impedance control; robot joint concentrated winding; planetary reducer; impedance control; robot joint

Share and Cite

MDPI and ACS Style

Zhang, G.; Tong, Q.; Zhang, T.; Tao, J.; Qiu, A. Design of a High Torque Density Robot Joint and Analysis of Force Control Method Applied for a Light Exoskeleton. Electronics 2023, 12, 397. https://doi.org/10.3390/electronics12020397

AMA Style

Zhang G, Tong Q, Zhang T, Tao J, Qiu A. Design of a High Torque Density Robot Joint and Analysis of Force Control Method Applied for a Light Exoskeleton. Electronics. 2023; 12(2):397. https://doi.org/10.3390/electronics12020397

Chicago/Turabian Style

Zhang, Gan, Qing Tong, Taixun Zhang, Jinxin Tao, and Anjian Qiu. 2023. "Design of a High Torque Density Robot Joint and Analysis of Force Control Method Applied for a Light Exoskeleton" Electronics 12, no. 2: 397. https://doi.org/10.3390/electronics12020397

APA Style

Zhang, G., Tong, Q., Zhang, T., Tao, J., & Qiu, A. (2023). Design of a High Torque Density Robot Joint and Analysis of Force Control Method Applied for a Light Exoskeleton. Electronics, 12(2), 397. https://doi.org/10.3390/electronics12020397

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