BLDC actuator back-drivability hacking: Improving electronics, mechanics or control

29.08.2024, Abschlussarbeiten, Bachelor- und Masterarbeiten

Brushless motors are growing in popularity for Robotics applications. In particular, due to their high power density, these motors can be used with smaller gear ratios to deliver the torque and speed requirements. For example, the key to MIT mini cheetah's success was BLDC adaptation within the Proprioceptive Actuator concept [1].

This task is continuation of the previous work. For this semester, the initial goal is to familiarize by contributing software feature developments, to support various test scenarios of BLDC actuator on already developed testing station. Idea is to in this manner gain insights about physical properties of BLDC actuators, and to mathematically describe them. One should design simple test scenarios and program the control for them (that includes programming absorber side - how the loading will look like, alongside the motor being tested). Collect, visualise and analyse data from experiments (plotting power, efficiency, etc.). Make conclusions about the relation between physical properties of different actuators (high level design choices like inrunner or outrunner, number of poles, control algorithm, etc.) and collected results.

Second part will be joining us to further work on Electronics, Software or Mechanics, for realization of the novel actuator concepts. It's worth mentioning that you will be supported by inhouse developed solutions for BLDC control, available testbed, etc.

Please check attached PDF for a bit more detailed description (To open it, click on the Picture above).

What you will gain:

• Hands-on experience and in-depth understanding of Brushless Motors, and their control
• Best practices for Embedded software development
• Experience building, prototyping, 3d Printing
• Working with DataSheets and Documentations of various Devices
• Hacking electronic signals (via oscilloscope, etc.)
• Insights in our System Development and access to our community

Requirements from candidates:

• Knowledge of C, Matlab
• Working skills in Ubuntu operating system
• Understanding how Motors work
• Basics in Electronics and Mechanics
• Proficiency in English C1, reading academic papers
• Plus are: 
  • Familiarity with GIT
  • Embedded software development
  • Robotics

To apply, you can send your CV, and short motivation to:

Supervisor

M.Sc. Vasilije Rakcevic

vasilije.rakcevic@tum.de

[1] P. M. Wensing, A. Wang, S. Seok, D. Otten, J. Lang and S. Kim, "Proprioceptive Actuator Design in the MIT Cheetah: Impact Mitigation and High-Bandwidth Physical Interaction for Dynamic Legged Robots," in IEEE Transactions on Robotics, vol. 33, no. 3, pp. 509-522, June 2017, doi: 10.1109/TRO.2016.2640183.

Kontakt: vasilije.rakcevic@tum.de