Static torque testing

Hi!

 

Recently, I haven't posted any updates as I was completely absorbed with my bachelor's thesis. Thankfully, it's almost finished and I'll have some more time for the actuators and quadruped robot soon. This post is going to be short, but I want to post the static torque data that I said I would, but most probably I forgot. So here it is: 

    The test bench consists of a single motor, dynamic torque transducer (it was purchased by our sumo robot club to measure both static and dynamic torques), and a lever to fix the other end of the transducer's shaft to the test bench. Obviously for now the sensor works only in the static scenario. The motor was commanded with incrementally increasing q currents and the measured torque was plotted. I tried to cool the motor down to room temperature before each run in order to minimize the influence of increased temperature. 

       It was able to produce 3Nm of peak torque at about 35A of q-axis current (near 10A on the power supply). The torque constant was determined to be roughly 0.125Nm/A in the linear range. After commanding currents above 25A the motor starts to saturate, so the torque performance is reduced and the motor is heating very quickly. Overall I'm happy with the results, 3Nm of maximum torque should be sufficient to perform basic types of gaits. Especially if I make the quadruped structure lightweight.