Optimum Choice of Robot Actuators

[+] Author and Article Information
P. Chedmail, M. Gautier

L.A.N. UA C.N.R.S 04/823, L.M.S., ENSM, 1 rue de la Noe, 44072 Nantes-Cedex, France

J. Eng. Ind 112(4), 361-367 (Nov 01, 1990) (7 pages) doi:10.1115/1.2899600 History: Received June 01, 1987; Revised September 01, 1988; Online April 08, 2008


The object of this paper is to present a method for the optimum choice of robot actuators. The modelling of the system takes into account the inertia of the links and actuators, and viscous and Coulomb friction effects. The thermal model of the actuators is included in the model. The optimum actuators set is that corresponding to the minimization of the global mass of all the actuators with respect to the maximum pulse torque and maximum temperature constraints for each one. Under specified conditions, the solution of this problem is obtained by exploring a manufacturer’s data base of actuators which contains the inertial, electrical, and thermal characteristics. An application of our approach on a SCARA robot type is given in the paper.

Copyright © 1990 by The American Society of Mechanical Engineers
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