Electro-mechanical actuator concepts.
Investigators: Prof. Parspour/Dr. Budaker
The main focus of the project is to design a high torque density drive train which can be reached by innovative design of the electro-magnetic circuit of the actuator, e.g. axial or transversal flux guidance. High efficiency drives can be realized using new materials such as high-end permanent magnets and or extremely low loss soft magnetic materials as well as advanced wiring schemes. In addition, new torque control algorithms are needed for the handling of soft tissue material, where novel torque and speed sensor inputs shall be used. Targets could be the minimization of torque ripple, enhanced dynamic behaviour or online adjustment of the handling process. In addition, a holistic approach for the optimization of the entire drive train includes new concepts for power electronics topologies. Furthermore, a compact design of the whole drive train includes considering appropriate gear boxes, housing, safety components, as well as energy supply and data transfer techniques. Scaled models can be used in hybrid actuation concepts. Exact models of the drive system will be delivered to other groups to develop superordinate control algorithms. For example, USTUTT-4 can profit by using those models in cloud based control structures, as well as for hybrid simulation, for working on functional safety topics and to improve their controller design for robot control.