UAH team keeps working in the preliminary design of the electromagnetic finite element model of the micro-robotic joint. Our main preliminary design goal is to maximize the output torque, mass torque density and volumetric torque density while keeping a high efficiency.
Finally after a few months of simulations, this team has come to few preliminary possible models that may accomplish this requirement. Configuration variables are considered, result of the interaction with other system components as the stress suffered on the bearings and their configuration inside the motor. Now, the following step that we may take is getting onto manufacturing details.