Optimum Choice of Robot Actuators
Optimum Choice of Robot Actuators
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DOI：
10.1115/1.2899600
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发表时间：
1990-11
期刊：
影响因子：
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通讯作者：
P. Chedmail;M. Gautier
中科院分区：
文献类型：
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作者：
P. Chedmail;M. Gautier
本文的目的是提出一种机器人执行器的优化选择方法。系统的建模考虑了连杆和执行器的惯性，以及粘性和库仑摩擦效应。模型中包含了执行器的热模型。最优执行器集合是对应于所有执行器相对于每个执行器的最大脉冲扭矩和最大温度约束的全局质量最小的执行器集。在特定条件下，这个问题的解决方案是通过研究制造商的执行器数据库，其中包含惯性、电气和热特性。文中给出了该方法在SCARA机器人上的应用。
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.