On the optimal selection of motors and transmissions for electromechanical and robotic systems
On the optimal selection of motors and transmissions for electromechanical and robotic systems
复制标题
关于机电和机器人系统电机和变速器的优化选择
DOI：
10.1109/iros.2014.6943215
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发表时间：
2014
期刊：
影响因子：
--
通讯作者：
J. Hurst
中科院分区：
文献类型：
--
作者：
S. Rezazadeh;J. Hurst
鉴于电机和传动装置在机电和机器人系统性能方面的重要作用，本文旨在为一般负载情况下这些部件的选型问题提供一种解决方案。制定了适当的目标，并利用这些目标，提出了一个流程来比较不同电机在特定任务中的性能。此外，考虑到不同的限制条件，通过分析得出了可行传动比的范围，并就从该范围中选择传动比以及（如果有的话）电机转矩常数提供了建议。作为一个案例研究，这些方法被应用于腿式机器人的执行器设计问题。
With regard to the important role of motors and transmissions in the performance of electromechanical and robotic systems, this paper intends to provide a solution for the problem of selection of these components for a general load case. Appropriate objectives are formulated, and by the use of them, a procedure is suggested to compare the performance of different motors for a specified task. Moreover, considering different limitations, the range for feasible transmission ratios is analytically obtained and suggestions for choosing a transmission ratio from this range, and if available, motor torque constant, are provided. As a case study, the methods are applied to the problem of actuator design for a legged robot.
影响因子：
2.4
作者：
BLICKHAN, R
通讯作者：
BLICKHAN, R
影响因子：
3.4
作者：
Ernst, M.;Geyer, H.;Blickhan, R.
通讯作者：
Blickhan, R.