Design optimization on the drive train of a light-weight robotic arm

Non-Rectangular Dynamic Range of the Drive System: A New Approach for the Choice of Motor and Transmission

“…(1) If point V ≡ V a does not lie above N 2 (Figure A4, curve l 1 ), i.e., if inequality (A79) is met, the second intersection coincides with V, and τ min (t) is given by Equation (A41). (2) Otherwise M V a (t) > M M,dyn,2 ( Figure A4, curve l 2 ) the second intersection coincides with the intersection between the ascending curve l a and arc d. Its transmission ratio, i.e., τ min (t) must be calculated by solving Equation (31) and lies in the range (τ V (t), τ N 1 (t)). (1) If point V ≡ V d does not lie above N 2 ( Figure A4, curve l 3 ), i.e., if inequality (A80) is met, curve l intersects curve s and the first intersection coincides with the intersection between the descending curve l d and arc d. Its transmission ratio, i.e., τ max (t) must be calculated by solving Equation (31) and lies in the range (τ V (t), τ N 1 (t)).…”

“…then the second intersection coincides with V, and τ min (t) is given by Figure A1, curve l 4 ) the second intersection of curve l with curve s belongs to arc d and the corresponding transmission ratio, i.e., τ min (t), must be calculated by solving Equation (31) and lies in the range (τ V (t), τ N 1 (t)). (2) Otherwise H d lies to the right of N 1 and to the left of R, i.e.,…”

“…(B) Otherwise (1) If H d does not lie to the left of R, i.e., if inequality (A37) is met, the motor must be excluded (Figure 9, curve l 2 ). (2) Otherwise if H d does not lie to the right of N 1 , i.e., if inequality (A38) is met, at the instant considered the motor is admissible and H d is the first intersection between curves l and s, so that…”

“…Many papers dealt with the simultaneous choice of drive system and reducer. Some quite recent works [1][2][3][4] directly tackled the automatic optimization of this choice, taking into account the above-mentioned constraints. If the optimization is multi-objective, it permits not only the limitation of one objective function, for instance the cost, but also the improvement of the machine performance, for example of its control errors.…”

Design of an economical SCARA robot for industrial applications

“…In reference [4], authors illustrated a new non-linear direct power transmission system namely gimbal drive which relocates motors from links to robot's base which results in suppression of motors weight in robot dynamic. In [5], an articulated robot is optimized in a way that maximum weight loss is achieved. Design of anti-backlash gear trains for precision positioning control systems has been studied in [6].…”