DocumentCode
2233413
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
Volume
1
fYear
2003
fDate
14-19 Sept. 2003
Firstpage
208
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-7736-2
Type
conf
DOI
10.1109/ROBOT.2003.1241597
Filename
1241597
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