Maximum instantaneous power consumption of robot drives determines requirements for power supply systems and dimensions of drives for robots and different process machines. The tasks of minimizing peaks in power consumption and drive sizes are acquired when creating autonomous robots operating under restrictions for installed capacity and weight-size parameters of the equipment. For a large number of such robots there are no process restrictions for types of applied motion laws and their numerical characteristics: maximum speeds and accelerations. The motion law type and especially its parameters are traditionally determined by the designer preferences without any justification. These are, for example, restrictions for maximum accelerations or speeds. The first is usually associated with the need to ensure strength and accuracy of the robot, the second - with safety of service personnel in the robot working area. Using the example of one of the most common motion laws the relation of instantaneous power and energy consumption on the payload are studied. Results of this research can be used as a basis for robot drives design in view of accepted criteria when optimal parameters of the motion law are calculated for each drive operation cycle depending on anticipated or actual load.
The maximum instantaneous power consumption of robot drives determines the requirements for the energy supply system and the dimensions of the machine. For numerous machines, there are no technological restrictions on the types of applied motion laws and their numerical characteristics i.e. maximum speeds and accelerations. The type of the motion law and especially its parameters are traditionally determined according to the preferences of the design engineer without any justification, though some-times restrictions on maximum accelerations or speeds are considered. The restrictions on maximum accelerations are related to ensuring the strength and accuracy of the drive, and the restrictions on maximum speeds are related to the safety of personnel in the workplace. The motor power is selected according to the maximum value of the instantaneous power and thermal load, which depends on the duration of switching on. The article analyzes the ways of minimizing of this maximum (peak) of instantaneous power inside the cycle for different laws and different loads. The main parameter by which the maximum (peak) power is minimized for all types of laws is the acceleration and braking times. On the example of the most common motion laws, the dependence of instantaneous power and energy consumption on accelerating time and braking time for various types of loads are studied. In this article, the dependence of instantaneous power and energy consumption on accelerating time and braking time for various types of loads are studied on the example of the most common motion laws. The research results are intended to create a design technique for drives of modern equipment.
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