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Flexible Three Phase Brushless DC Motor Driver for medium radiation level

Sedlmayr, Hans-Jürgen and Maier, Maximilian and Reill, Josef and Wolff, Friederike (2017) Flexible Three Phase Brushless DC Motor Driver for medium radiation level. In: 12th IAA International Conference on Low Cost Planetary Missions. 12th International Academy of Astronautics (IAA) Low-Cost Planetary Missions Conference, 15.-17. Aug. 2017, Pasadena, USA.

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Abstract

Robotic systems can provide an excellent on-site or remote support for astronauts during routine tasks and perform even autonomous tasks during exploration missions. New systems like the robotic arm CAESAR, the fourfingered robotic hand Spacehand, small exploration systems like MASCOT or several Pan-Tilt-Units on rovers emphasize the need for a highly integrated, high performance motor controller with a small foot print. This paper presents a three Phase brushless DC Motor Driver for medium radiation levels which was developed at the Institute of Robotics and Mechatronics of the German Aerospace Center (DLR). This module is able to withstand 120W of continuous motor power, offers interfaces for analogue and digital motor position measurements as well as a standard high level communication interface on a single board with an extremely small footprint. Due to its small footprint, multiple boards could be used within a robotic system to drive multiple motors synchronously. Simulations have been performed to show the increase in performance that can be achieved through the simultaneous motion of multiple actuators. A potential application is MASCOT-2 (Mobile Asteroid Surface sCOuT), which is analyzed as a case study to present the benefits of a multi-actuator system for relocation and attitude control in low-gravity environments.

Item URL in elib:https://elib.dlr.de/113867/
Document Type:Conference or Workshop Item (Speech, Poster)
Title:Flexible Three Phase Brushless DC Motor Driver for medium radiation level
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Sedlmayr, Hans-Jürgenhans-juergen.sedlmayr (at) dlr.deUNSPECIFIED
Maier, Maximilianmaximilian.maier (at) dlr.deUNSPECIFIED
Reill, Josefjosef.reill (at) dlr.deUNSPECIFIED
Wolff, Friederikefriederike.wolff (at) dlr.deUNSPECIFIED
Date:15 August 2017
Journal or Publication Title:12th IAA International Conference on Low Cost Planetary Missions
Refereed publication:No
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:MASCOT, Hayabusa II, BLDC, Brushless DC Motor Drive
Event Title:12th International Academy of Astronautics (IAA) Low-Cost Planetary Missions Conference
Event Location:Pasadena, USA
Event Type:international Conference
Event Dates:15.-17. Aug. 2017
Organizer:International Academy of Astronautics (IAA)
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Communication and Navigation
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Projekt Mascot (Rob.)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Mechatronic Systems
Institute of System Dynamics and Control > Space System Dynamics
Deposited By: Sedlmayr, Hans-Jürgen
Deposited On:04 Sep 2017 09:44
Last Modified:04 Sep 2017 09:44

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