Motor Characterization for Small Running Robots (2016)
3 days ago
- The author characterizes cheap brushless motors for use in small running robots, focusing on torque density and performance.
- Key parameters measured include line-to-line resistance, back-EMF waveform, torque constant (Kt), and motor constant (Km).
- Pancake-shaped motors (large diameter, small depth) are preferred for high torque density based on dimensional analysis.
- Six motors were tested: Turnigy HD 5208 Gimbal, Turnigy Multistar Elite 5010, Gartt ML 5208, Turnigy Multistar 4830, Turnigy Multistar 4822, and Flycat i-Rotor 5010.
- The Multistar Elite 5010 is deemed the best overall after a price drop to $42.15, offering a high motor constant (0.0930 N*m/sqrt(watt)) and excellent construction.
- The Turnigy HD 5208 has good motor constant but requires a 200V bus for equivalent performance, making it less feasible for robots.
- The Gartt ML 5208 is a solid budget option with 22 poles and good motor constant (0.0800 N*m/sqrt(watt)).
- The Flycat i-Rotor 5010 is the cheapest but has poor construction and lower performance.
- Next steps include designing motor controller hardware and integrating motors into a robotic leg with planetary reduction.