Optimal Transmission Ratio Selection for Electric Motor Driven Actuators With Known Output Torque and Motion Trajectories

被引：15
作者：
Bartlett, Harrison L. [1 ]
Lawson, Brian E. [1 ]
Goldfarb, Michael [1 ]
机构：
[1] Vanderbilt Univ, Mech Engn, 221 Kirkland Hall, Nashville, TN 37235 USA
来源：
JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME | 2017年 / 139卷 / 10期
基金：
美国国家科学基金会;
关键词：
MECHATRONIC APPLICATIONS; CHOICE; OPTIMIZATION; SYSTEM;
D O I：
10.1115/1.4036538
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents a method for selecting the optimal transmission ratio for an electric motor for applications for which the desired torque and motion at the transmission output are known a priori. Representative applications for which the desired output torque and motion are periodic and known include robotic manipulation, robotic locomotion, powered prostheses, and exoskeletons. Optimal transmission ratios are presented in two senses: one that minimizes the root-mean-square (RMS) electrical current and one that minimizes the RMS electrical power. An example application is presented in order to demonstrate the method for optimal transmission ratio selection.
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页数：7
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