Development of a 3D-Printed BLDC Motor and Controller for Robotic Applications

Abstract

This paper presents the design and experimental validation of a 3D-printed BLDC motor featuring a hollow-shaft rotor and nickel-reinforced stator. The rotor employs neodymium magnets to reduce inertia while maintaining torque density, and the stator integrates thin nickel laminations to improve flux density. A custom controller with Hall sensors, BiSS-C encoder, and CAN interface enables closed-loop position control. Experiments demonstrate stable tracking with short settling time and negligible steady-state error, confirming feasibility for robotic and precision applications.