OPTIMUM CHOICE OF ROBOT ACTUATORS

被引：23

作者：

CHEDMAIL, P

GAUTIER, M

机构：

[1] L.A.N. UA C.N.R.S 04/823. L.M.S, ENSM, Nantes Cedex, 44072

来源：

JOURNAL OF ENGINEERING FOR INDUSTRY-TRANSACTIONS OF THE ASME | 1990年 / 112卷 / 04期

关键词：

D O I：

10.1115/1.2899600

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

The object of this paper is to present a method for the optimum choice of robot actuators. The modelling of the system takes into account the inertia of the links and actuators, and viscous and Coulomb friction effects. The thermal model of the actuators is included in the model. The optimum actuators set is that corresponding to the minimization of the global mass of all the actuators with respect to the maximum pulse torque and maximum temperature constraints for each one. Under specified conditions, the solution of this problem is obtained by exploring a manufacturer's data base of actuators which contains the inertial, electrical, and thermal characteristics. An application of our approach on a SCARA robot type is given in the paper. © 1990 by ASME.

引用

页码：361 / 367

页数：7

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