Direct-Drive High Thrust Spiral (Helical) Motor

The Japanese version is here.

Spiral Motor

Application to robotics

Other applications

The proposed linear type motor is suitable for applications that require large thrust, compact and lightweight actuators. The movies below show a basic electric power steering test, using the first prototype of the spiral motor, of an electric vehicle EV-1 developed by Dr. Hiroshi Fujimoto°«s laboratory.

  

Due to the very complicated spiral shape, the initial capital of the spiral motor is relatively high. Therefore, future research will be directed towards reducing the cost.

Acknowledgment

Reference

  1. Spiral Linear Motor, JP.Patent No. 3712073 (WO2004/042902), 2006.3.3
  2. Spiral Linear Motor, U.S.Patent 7176590B2, 2007.2.17
  3. Ahmad Zaki bin Hj Shukor and Yasutaka Fujimoto, "Planar Task Space Control of a Biarticular Manipulator Driven by Spiral Motors", Int. Journal of Advanced Robotic Systems, vol. 9, 2012.10 (DOI:10.5772/51742)
  4. Issam A. Smadi, Hiroko Omori, and Yasutaka Fujimoto, "Development, Analysis and Experimental Realization of a Direct-Drive Helical Motor", IEEE Trans. on Industrial Electronics, vol. 59, no. 5, pp. 2208-2216, 2012.5
  5. Koichiro Suzuki, Yasutaka Fujimoto, "Modeling, Analysis and Experiments of an IPM Spiral Motor", Journal of the Robotics Society of Japan, vol. 28, no. 7, pp. 897-904, 2010.9
  6. Yasutaka Fujimoto, Tsutomu Kominami, and Hiroshi Hamada, "Development and Analysis of a High Thrust Force Direct-Drive Linear Actuator", IEEE Trans. on Industrial Electronics, vol. 56, no. 5, pp. 1383-1392, 2009.5
  7. Tsutomu Kominami and Yasutaka Fujimoto, "Studies on Thrust Characteristic of High-Thrust Spiral Motor", IEEJ Trans. on Industry Applications, vol. 129-D, no. 2, pp. 130-135, 2009.2
  8. Tsutomu Kominami and Yasutaka Fujimoto, "Studies on Thrust Characteristic of High-Thrust Spiral Motor", IEEJ Trans. on Industry Applications, vol. 128-D, no. 5, 2008.5
  9. Hyuk-jin Kwon, Yasutaka Fujimoto, "Thrust Characteristic of High-Thrust Spiral Motor Using FEM Analysis", IEEJ Trans. on Industry Applications, vol. 127-D, no. 6, pp. 653-662, 2007.6
  10. Takahiro Mikami and Yasutaka Fujimoto, "Design of a High-thrust Density Spiral Motor using Finite Element Analysis", Proc. IEEE Industrial Electronics Society Annual Conference (IECON), Montreal, 2012.10
  11. Ahmad Zaki Shukor and Yasutaka Fujimoto, "Force Control of Musculoskeletal Manipulator", Proc. IEEE International Workshop on Advanced Motion Control (AMC), Paper ID. 74, Sarajevo, 2012.3
  12. Yasutaka Fujimoto, Tsubasa Suenaga, Yuuki Wakayama, Kengo Sawai, and Ahmad Zaki Shukor, "Force Control of a Spiral Motor and Its Application to Musculoskeletal Biped Robot", Proc. IEEE International Workshop on Advanced Motion Control (AMC), Paper ID. 115, Sarajevo, 2012.3
  13. Ahmad Zaki Shukor, Issam Abed Smadi, and Yasutaka Fujimoto, "Development of a Biarticular Manipulator using Spiral Motors", Proc. IEEE Industrial Electronics Society Annual Conference (IECON), pp. 92-97, Melbourne, 2011.11
  14. Tsubasa Suenaga and Yasutaka Fujimoto, "Parameter Identification and Passive Direct Drive Control with Magnetic Levitation for IPM-type Spiral Motor", Proc. IEEE Industrial Electronics Society Annual Conference (IECON), pp. 2147-2151, Melbourne, 2011.11
  15. Ahmad Zaki Shukor, Yasutaka Fujimoto, "Workspace Control of Biarticular Manipulator", Proc. IEEE International Conference on Mechatronics (ICM), ID-007137, Istanbul, 2011.4
  16. Yasutaka Fujimoto, Issam A. Smadi, and Yuki Wakayama, "Development of Musculoskeletal Biped Robot Driven by Direct-Drive Actuators", Proc. IEEE International Conference on Mechatronics (ICM), ID-007447, Istanbul, 2011.4
  17. Issam A. Smadi, Hiroko Omori, and Yasutaka Fujimoto, "On Direct-drive Motion of a Spiral Motor", Proc. IEEE Industrial Electronics Society Annual Conference (IECON), pp. 921-926, Glendale, 2010.11
  18. Yasutaka Fujimoto, Issam A. Smadi, Hiroko Omori, and Yuuki Wakayama, "High Thrust Force Direct-Drive Linear Actuator and Its Application to Musculoskeletal Robots", Proc. International Symposium on Application of Biomechanical Control Systems to Precision Engineering (ISAB), pp. 217-222, 2010.7
  19. Yasutaka Fujimoto, Issam A. Smadi, Hiroko Omori, Koichiro Suzuki, and Hiroshi Hamada, "Modeling and Control of a High-thrust Direct-drive Spiral Motor", Proc. IEEJ International Power Electronics Conference (IPEC), 24F1-4, pp. 2222-2229, 2010.6
  20. Yasutaka Fujimoto, Yuuki Wakayama, Hiroko Omori, and Issam A. Smadi, "On a High-Backdrivable Direct-drive Actuator for Musculoskeletal Bipedal Robots", Proc. IEEE International Workshop on Advanced Motion Control, NF-003891, pp. 389-395, 2010.3
  21. Issam A. Smadi, Hiroko Omori, and Yasutaka Fujimoto, "On Independent Position/Gap Control of a Spiral Motor", Proc. IEEE International Workshop on Advanced Motion Control, NF-001899, pp. 478-483, 2010.3
  22. Yasutaka Fujimoto, Tsutomu Kominami, and Hiroshi Hamada, "Development of a Spirally-Shaped Linear Actuator", Proc. IEEE Industry Applications Society Annual Meeting (IAS), IAS15p6, 2008.10
  23. Yasutaka Fujimoto and Tsutomu Kominami, "Development of a High Thrust Linear Actuator with High Backdrivability", Proc. IEEE International Workshop on Advanced Motion Control, pp. 360-364, 2008.3
  24. Tsutomu Kominami, Yasutaka Fujimoto, "Inverter with Reduced Switching-Device Count for Independent AC Motor Control", Proc. IEEE Industrial Electronics Society Annual Conference (IECON), pp. 1559-1564, 2007.11
  25. Tsutomu Kominami, Yasutaka Fujimoto, "A Novel Nine-Switch Inverter for Independent Control of Two Three-phase Loads", Proc. IEEE Industry Applications Society Annual Conference (IAS), pp. 2346-2350, 2007.9
  26. Hyuk-jin Kwon and Yasutaka Fujimoto, "Thrust Characteristic of Spiral Motor Using FEM Analysis and Compensation for Thrust Fluctuation", IEEE International Workshop on Advanced Motion Control (AMC), vol. 2, pp. 535-540, 2006.3
  27. Tsutomu Kominami and Yasutaka Fujimoto, "Magnetic Levitation Control and Spiral-Linear Transformation System for Spiral Motor", IEEE International Workshop on Advanced Motion Control (AMC), vol. 2, pp. 529-534, 2006.3
  28. Hyuk-jin Kwon and Yasutaka Fujimoto, "On A Magnet Arrangement For Spiral Motor", Proc. IEEJ International Power Electronics Conference (IPEC), pp. 424-430, 2005.4
  29. Hyuk-jin Kwon and Yasutaka Fujimoto, "FEM Analysis of High Thrust Spiral Motor", Proc. IEEE International Workshop on Advanced Motion Control (AMC), pp. 635-640, 2004.3
  30. Tsutomu Kominami and Yasutaka Fujimoto, "Dynamic Model and Control of Six-Phase Spiral Motor", Proc. IEEE International Workshop on Advanced Motion Control (AMC), pp. 629-634, 2004.3

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