Title :
Dynamic modeling and analysis of a transmission-based robot servoactuator
Author :
Hamel, William R. ; Kim, Sewoong ; Zhou, Renbin ; Lumsdaine, Arnold
Author_Institution :
Dept. of Mech. & Aerosp. Eng. & Biomed. Eng., Tennessee Univ., Knoxville, TN, USA
Abstract :
This paper addresses aspects of the feasibility of extending high performance brushless DC motor torque-speed capabilities by using multi-speed transmissions. Initial dynamic modeling and simulation results show that a transmission-based electrical servo actuator can have similar load capabilities with widely used hydraulic actuator in robot manipulators.
Keywords :
brushless DC motors; hydraulic actuators; manipulator dynamics; servomotors; torque; variable speed gear; dynamic modeling; high performance brushless DC motor; motor torque-speed capabilities; multispeed transmission; robot manipulator; simulation; transmission-based robot servoactuator; Aerodynamics; Brushless DC motors; DC motors; Gears; Hydraulic actuators; Manipulator dynamics; Robots; Servomechanisms; Servomotors; Torque;
Conference_Titel :
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
Print_ISBN :
0-7803-7736-2
DOI :
10.1109/ROBOT.2003.1241597
