Abstrakt

Energy Efficient Multipurpose Robotic Manipulator Using Induction Motor

Vijayalakshmi V , Karthikeyan K. B

Robotics is an ever growing field with applications in defense, industrial and consumer markets. A proper control is a necessity for accomplishing simple and complex tasks from painting cars to lifting victims out of rubble. Most of the manipulators use DC motors, whose maintenance cost and the losses are very high; this is the main reason for changing the option whenever possible with its ac counterpart. A major consideration in case of robotic arm is reducing its cost without compensating its robustness. The proposed system employs an induction motor and servo motors for developing a 3 DOF arm. Many applications are dominated by dc motor due to the fact that an induction motor drive employing constant v/f control cannot satisfactorily give the required output. By employing vector control, a decoupled closed loop control of torque and flux, similar to that of a dc motor can be achieved. It also enhances the dynamic response of the induction motor and further adds to precise tracking of parameter variations. A gear reduction mechanism is provided to achieve low speed and accuracy in position control. Decentralized control employed here not only makes the design easy but also the implementation difficulties are reduced. The system employing FOC of induction motor with space vector pwm was successfully simulated in Matlab and the results were verified. The proposed system shows effective response to even minor variations in speed and load parameters and is more efficient compared to the available system