Cable-Driven Robotic Arm using a BLDC Motor with Field Oriented Control (FOC) Technique
Reza Alam, Professor
Mechanical Engineering
Closed. This professor is continuing with Spring 2024 apprentices on this project; no new apprentices needed for Fall 2024.
Two positions available: 1) Design and fabrication, 2) Modeling and Controller Design
Field Oriented Control (FOC) is an advanced commutation and current control technique that allows Brushless DC (BLDC) motors to run more efficiently, with a higher power factor, with smoother motion (less torque ripple), and with no compromise in dynamic response to speed changes. In a BLDC motor, magnetic field is generated by magnets mounted directly on the rotor and by coils in the stator. The stator windings generally come in a 3-phase configuration and are arranged to be 120 electrical degrees apart from each other. It is the sum of the force generated by these three phases that will ultimately generate useable motor rotation. The FOC works by managing stator windings to keep the flux produced by the rotor’s permanent magnets orthogonal to the stator field. This advanced control technique has broad industrial applications including robotic manipulators and electric vehicles.
In this project, we will design, prototype and test a cable driven robotic arm using a BLDC motor and a closed-loop FOC approach to accurately control the tension (force) in the cable as a function of its position. The final step is to create a virtual mass-spring-damper dynamic response (for a given set of parameters) and compare the experimental results with theoretical models. Most of the electromechanical components in this project will be purchased online from suppliers such as Digikey and Mcmaster. The remaining mechanical elements will be fabricated by either a 3D printer or a laser cutting machine (or with a water-jet cutting machine for metallic components).
Role: Tasks:
- Selecting the electromechanical items such as motors, encoders, etc.
- CAD design of the mechanical components
- Fabricating 3D elements with a 3D printer
- Fabricating 2D acrylic components with a laser cutting machine
- Fabricating 2D aluminum components with a water jet cutting machine
- Assembling and debugging the experimental testbed
- Designing and implementing closed-loop control algorithms to regulate
cable tension as a function of its position
- Conducting experiments and recording data for further processing and
analysis
Qualifications: Required skills/Background:
1. Machine shop training
2. General mechatronics background (familiarity with electric motors,
magnetic and optical encoders, etc.)
3. CAD design (such as Autodesk/Inventor, Solid works, etc.)
Nice to have:
1. Familiarity with circuit design
2. Familiarity with Arduino and its programming
Hours: 12 or more hours
Related website: https://www.trinamic.com/technology/motor-control-technology/field-oriented-control/
Engineering, Design & Technologies