Six-stator spherical induction motor for balancing mobile robots

Ankit Bhatia; Masaaki Kumagai; Ralph Hollis

ICRA 2015poster55 citations

Six-stator spherical induction motor for balancing mobile robots

Ankit Bhatia, Masaaki Kumagai, Ralph Hollis

Abstract

This paper describes the design, construction, and operation of a closed-loop spherical induction motor (SIM) ball wheel for a balancing mobile robot (ballbot). Following earlier work, this new design has a smaller rotor and higher torques due to the use of six stators in a skewed layout. Actuation and sensing kinematics as well as control methods are presented. In its current implementation, torques of up to 8 Nm are produced by the motor with rise and decay times of 100 ms. Results are presented supporting its potential as a prime mover for mobile robots.

BibTeX

@inproceedings{icra2015_sixstatorspheric,
  title = {Six-stator spherical induction motor for balancing mobile robots},
  author = {Ankit Bhatia and Masaaki Kumagai and Ralph Hollis},
  booktitle = {ICRA 2015},
  year = {2015}
}