| Proj No. | A1016-251 |
| Title | Design of a high-performance vernier machine for humanoid robot applications |
| Summary | The development of humanoid robots and collaborative robots (cobots) has garnered increasing attention from both academia and industry, due to their significant potential in addressing significant societal and industrial challenges. The drivetrain systems of joint motors in humanoid robots and cobots are critical and are specifically designed to meet demanding requirements, including compactness and lightweight, high backdrivability, high operating efficiency, and built-in over-torque-protection, which are essential for tasks such as walking, manipulation, and interaction with humans. Currently, the industrial market is dominated by the artful combination of high-speed permanent magnet synchronous machines (PMSMs) and strain wave gears. While advancements in strain wave gears offer benefits of high torque density with compact size, and precise control with minimal back lash, the problems of low efficiency, poor back-drivability, and a shortened life cycle remain as prohibiting problems. This project aims to design a high-performance vernier machine for humanoid applications, which replace the conventional drivetrain system comprising high-speed PMSM and high-gear-ratio strain wave gears. Exceptional designs may be fabricated as experimental prototypes for concept validation. |
| Supervisor | A/P Christopher H. T. Lee (Loc:S2 > S2 B2C > S2 B2C 101, Ext: +65 67905369) |
| Co-Supervisor | - |
| RI Co-Supervisor | - |
| Lab | Process Instrumentation (Loc: S2.2-B4-03) |
| Single/Group: | Single |
| Area: | Electrical Power and Energy |
| ISP/RI/SMP/SCP?: |