Electric direct-drive stepping motor for robots

Abstract

A new type of stepping motor, named electric nutation motor was developed. The aim of this research is to develop a new stepping motor with high torque. Based on the magnetic field analysis using finite element method, theoretical value of the electromagnetic force was obtained. Magnetic path was designed and optimized. The force of the electromagnet was 60 N with the current of 0.3 A. The motor was found to have the maximum torque of 0.64 N/spl middot/m, the maximum speed of 4.3 rpm, and positioning accuracy of 1,248 step/rev.