Work

The Development and Experimental Implementation of an Open Mechatronic Drive Platform for a BLDC Servomotor in an Industrial Robotic Axis

Year: 2026

Type: article

Abstract: This paper presents an open-architecture mechatronic drive platform for operating a three-phase BLDC servomotor in an industrial robotic axis. A sequential and iterative mechatronic design methodology is adopted, integrating electronic design, digital control, mechanical development, and experimental prototyping, with emphasis on open-loop operation. The electronic circuit was designed using schematics and a PCB and validated in Proteus Design Suite 8.15 (Labcenter Electronics Ltd., London, UK) to verify switching sequences and inverter behavior. The power stage is based on a six-switch insulated-gate bipolar transistor (IGBT) inverter module, complemented by an independent snubber protection board and a dedicated digital gate-drive control board. The mechanical enclosure was designed using computer-aided design (CAD), CAD software tools (Shapr3D, version 5.911.0 (9224), Shapr3D Zrt., Budapest, Hungary), and fabricated via 3D printing. Switching behavior was simulated in Octave using parameters from a real industrial BLDC servomotor (Yaskawa SGMAH series) extracted from a Motoman robotic axis. The contribution is design-oriented in a mechatronic engineering sense, emphasizing accessibility, openness, and experimental enablement of industrial drive hardware rather than control-performance optimization. An industrial Yaskawa BLDC servomotor from the Motoman robot is used to determine switching sequences and safe operating parameters. Experimental open-loop tests were conducted by directly commanding the six inverter switching sectors, resulting in the stable synchronous rotation of the motor on the developed electromechanical platform.

Source: Processes

DOI: 10.3390/pr14030519

Authors: Erick Axel Padilla-García, Mario Ricardo Cruz-Deviana, Jorge Díaz-Salgado, Raúl Dalí Cruz-Morales, Jaime González-Sierra

Institutions: Tecnológico Nacional de México, Tecnológico de Estudios Superiores de Ecatepec, Facultad de Estudios Superiores Cuautitlán, Universidad Nacional Autónoma de México, Instituto Politécnico Nacional

Language: English

Topic: Electric Motor Design and Analysis

Subfield: Electrical and Electronic Engineering

Field: Engineering

Domain: Physical Sciences

SDG: Industry, innovation and infrastructure

Open Access status: gold

Estimated APC paid: $2,896