The development and refinement of a compact, high torque electromagnetic actuation device suitable for use in robotic joints is proposed. In order to provide muscle like actuation forces and reaction speeds the actuator must be of an advanced design that supersedes all existing technologies. This performance capability is possible by enhancing an existing new technology currently in the prototype stage. The Epicyclic Motion Motor has already demonstrated a 3 fold increase in the torque/mass ratio over existing non-superconducting conventional electromagnetic motors. It is proposed that SRC will in Phase I of this research grant conduct work to enhance the performance of the Epicyclic Motion Motor by utilizing optimization techniques coupled to finite element codes to yield an additional increase in performance. It si confidently envisioned based on prototype results that the Epicyclic Motion Motor will yield performance figures that exceed all other types of actuation devices in the compact confines of a robotic arm, wrist and manipulator finger. The self enclosed mature of the Electromagnetic device results in a total compact and environmentally robust system without the ancillary equipment needed for other methods of actuation.
Benefits: The realization of a high performance Epicyclic Motion Motor would yield compact light weight robots with high response times. The Epicyclic Motion Motor would also find application in high performance hybird motor vehicle direct drives where torque/mass ratios are of economic importance. Elelctromagnetic motors in these hybrid applications are also driven by the need for regenerative energy charging under braking application. the Epicyclic Motion Motor can also be driven as a generator. The simplified construction of the Epicyclic Motion Motor lends itself well in MEMS applications. Development of this technology will spin off to the computer industry where the motor will find applications to storage device drivers and others.
Keywords: Electromagnetic Epicyclic Motor Torque Wrist Arm Manipulator Electromagnetic Epicyclic Motor Torque Wrist Arm Manipulator
