Development of Quasi-Direct Drive Motor for Walking Robots in Extraterrestrial Environments
This paper presents the development of a quasi-direct drive motor for space applications, which offers opportunities for dynamic applications, such as in walking robots. The use of such a motor in a space environment presents new challenges that make it necessary to go beyond the conventional design...
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| Format: | Article |
| Language: | English |
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MDPI AG
2025-04-01
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| Series: | Engineering Proceedings |
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| Online Access: | https://www.mdpi.com/2673-4591/90/1/99 |
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| author | Jonas Eisenmenger Zhongqian Zhao Frank Kirchner |
| author_facet | Jonas Eisenmenger Zhongqian Zhao Frank Kirchner |
| author_sort | Jonas Eisenmenger |
| collection | DOAJ |
| description | This paper presents the development of a quasi-direct drive motor for space applications, which offers opportunities for dynamic applications, such as in walking robots. The use of such a motor in a space environment presents new challenges that make it necessary to go beyond the conventional design for terrestrial applications. To achieve this, the DFKI-X2D joint was developed as part of the MODKOM project. As an approach, an in-runner and an out-runner motor are developed as prototypes and subjected to several functional tests, including tests on a motor test bench, in a climate chamber, and via vibration tests. During these tests, the in-runner approach showed advantages, especially in thermal terms, and based on the findings, a final iteration was designed as the space version, which will undergo additional environmental testing in the future to move towards TRL 5. |
| format | Article |
| id | doaj-art-eafc0edc931e49529230756bf41e2df3 |
| institution | Kabale University |
| issn | 2673-4591 |
| language | English |
| publishDate | 2025-04-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Engineering Proceedings |
| spelling | doaj-art-eafc0edc931e49529230756bf41e2df32025-08-20T03:24:37ZengMDPI AGEngineering Proceedings2673-45912025-04-019019910.3390/engproc2025090099Development of Quasi-Direct Drive Motor for Walking Robots in Extraterrestrial EnvironmentsJonas Eisenmenger0Zhongqian Zhao1Frank Kirchner2DFKI GmbH, 28359 Bremen, GermanyDFKI GmbH, 28359 Bremen, GermanyDFKI GmbH, 28359 Bremen, GermanyThis paper presents the development of a quasi-direct drive motor for space applications, which offers opportunities for dynamic applications, such as in walking robots. The use of such a motor in a space environment presents new challenges that make it necessary to go beyond the conventional design for terrestrial applications. To achieve this, the DFKI-X2D joint was developed as part of the MODKOM project. As an approach, an in-runner and an out-runner motor are developed as prototypes and subjected to several functional tests, including tests on a motor test bench, in a climate chamber, and via vibration tests. During these tests, the in-runner approach showed advantages, especially in thermal terms, and based on the findings, a final iteration was designed as the space version, which will undergo additional environmental testing in the future to move towards TRL 5.https://www.mdpi.com/2673-4591/90/1/99space roboticsquasi-direct drivespace technologywalking robotsmotor |
| spellingShingle | Jonas Eisenmenger Zhongqian Zhao Frank Kirchner Development of Quasi-Direct Drive Motor for Walking Robots in Extraterrestrial Environments Engineering Proceedings space robotics quasi-direct drive space technology walking robots motor |
| title | Development of Quasi-Direct Drive Motor for Walking Robots in Extraterrestrial Environments |
| title_full | Development of Quasi-Direct Drive Motor for Walking Robots in Extraterrestrial Environments |
| title_fullStr | Development of Quasi-Direct Drive Motor for Walking Robots in Extraterrestrial Environments |
| title_full_unstemmed | Development of Quasi-Direct Drive Motor for Walking Robots in Extraterrestrial Environments |
| title_short | Development of Quasi-Direct Drive Motor for Walking Robots in Extraterrestrial Environments |
| title_sort | development of quasi direct drive motor for walking robots in extraterrestrial environments |
| topic | space robotics quasi-direct drive space technology walking robots motor |
| url | https://www.mdpi.com/2673-4591/90/1/99 |
| work_keys_str_mv | AT jonaseisenmenger developmentofquasidirectdrivemotorforwalkingrobotsinextraterrestrialenvironments AT zhongqianzhao developmentofquasidirectdrivemotorforwalkingrobotsinextraterrestrialenvironments AT frankkirchner developmentofquasidirectdrivemotorforwalkingrobotsinextraterrestrialenvironments |