Design of the Joint Motor for an Articulated Robot Considering Joint Load Characteristics
In this paper, we propose a method to efficiently design joint motors, which are the key elements that drive a cooperative robot. Designing joint motors with more power than the required capacity increases the volume and weight of the robot. On the other hand, designing joint motors with less power...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-10-01
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| Series: | Energies |
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| Online Access: | https://www.mdpi.com/1996-1073/14/20/6690 |
| _version_ | 1797514697994403840 |
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| author | Ji-Heon Lee Ji-Young Lee Phuong Thi Luu Tung Khanh Nguyen |
| author_facet | Ji-Heon Lee Ji-Young Lee Phuong Thi Luu Tung Khanh Nguyen |
| author_sort | Ji-Heon Lee |
| collection | DOAJ |
| description | In this paper, we propose a method to efficiently design joint motors, which are the key elements that drive a cooperative robot. Designing joint motors with more power than the required capacity increases the volume and weight of the robot. On the other hand, designing joint motors with less power than the required capacity can lead to failure and safety accidents because of high temperature rise and mechanical instability. Therefore, in this study, the required capacities of the joint motors were determined through a dynamic analysis of the robot system and incorporated in the joint motor design specifications. An electromagnetic analysis was performed during design using the two-dimensional finite element method, and the detailed dimensions of the motor were determined using the response surface method, which is an optimal design technique. The thermal characteristics of the joint motor were evaluated using a thermal equivalent circuit. The designed joint motors were manufactured, and their performance were tested not only at the component level, but also at the robot system level to verify experimentally the validity and usefulness of the proposed joint motor design method. |
| first_indexed | 2024-03-10T06:35:16Z |
| format | Article |
| id | doaj.art-07e3039a164248408db1b91545e8c1d8 |
| institution | Directory Open Access Journal |
| issn | 1996-1073 |
| language | English |
| last_indexed | 2024-03-10T06:35:16Z |
| publishDate | 2021-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Energies |
| spelling | doaj.art-07e3039a164248408db1b91545e8c1d82023-11-22T18:07:11ZengMDPI AGEnergies1996-10732021-10-011420669010.3390/en14206690Design of the Joint Motor for an Articulated Robot Considering Joint Load CharacteristicsJi-Heon Lee0Ji-Young Lee1Phuong Thi Luu2Tung Khanh Nguyen3Electric Machines and Drives Research Center, Korea Electrotechnology Research Institute (KERI), Changwon 51543, KoreaElectric Machines and Drives Research Center, Korea Electrotechnology Research Institute (KERI), Changwon 51543, KoreaEnergy and Power Conversion Engineering, University of Science and Technology (UST), Daejeon 34113, KoreaElectric Machines and Drives Research Center, Korea Electrotechnology Research Institute (KERI), Changwon 51543, KoreaIn this paper, we propose a method to efficiently design joint motors, which are the key elements that drive a cooperative robot. Designing joint motors with more power than the required capacity increases the volume and weight of the robot. On the other hand, designing joint motors with less power than the required capacity can lead to failure and safety accidents because of high temperature rise and mechanical instability. Therefore, in this study, the required capacities of the joint motors were determined through a dynamic analysis of the robot system and incorporated in the joint motor design specifications. An electromagnetic analysis was performed during design using the two-dimensional finite element method, and the detailed dimensions of the motor were determined using the response surface method, which is an optimal design technique. The thermal characteristics of the joint motor were evaluated using a thermal equivalent circuit. The designed joint motors were manufactured, and their performance were tested not only at the component level, but also at the robot system level to verify experimentally the validity and usefulness of the proposed joint motor design method.https://www.mdpi.com/1996-1073/14/20/6690articulated robotjoint motor designthermal analysisrigid body dynamicstorque estimation |
| spellingShingle | Ji-Heon Lee Ji-Young Lee Phuong Thi Luu Tung Khanh Nguyen Design of the Joint Motor for an Articulated Robot Considering Joint Load Characteristics Energies articulated robot joint motor design thermal analysis rigid body dynamics torque estimation |
| title | Design of the Joint Motor for an Articulated Robot Considering Joint Load Characteristics |
| title_full | Design of the Joint Motor for an Articulated Robot Considering Joint Load Characteristics |
| title_fullStr | Design of the Joint Motor for an Articulated Robot Considering Joint Load Characteristics |
| title_full_unstemmed | Design of the Joint Motor for an Articulated Robot Considering Joint Load Characteristics |
| title_short | Design of the Joint Motor for an Articulated Robot Considering Joint Load Characteristics |
| title_sort | design of the joint motor for an articulated robot considering joint load characteristics |
| topic | articulated robot joint motor design thermal analysis rigid body dynamics torque estimation |
| url | https://www.mdpi.com/1996-1073/14/20/6690 |
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