| Summary: | The choice of motor and transmission to move a joint must ensure that the torque peaks of the motor lie inside its dynamic operating range. With this aim, this paper proposes an approach in which all the candidate transmissions are processed one by one to find among all the candidate motors those they could execute the reference task with. Consequently, all the transmission parameters, and not only its transmission ratio, are taken into consideration in advance. For rectangular dynamic operating ranges, this approach allows a direct and precise evaluation of all the admissible motor-transmission couples, without any approximation and further check. Apart from an entirely automated procedure, the method also provides diagrams through which the designer can concisely compare the admissible solutions. Furthermore, the method provides a solution for the drive systems in which the limit torque of the dynamic operating range does depend on the motor speed.
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