|Selection and Design of Drive Modules for Robot Joint Based on Dynamic Load Characteristics
Jung-Moo Seo*, Se-Hyun Rhyu, Jang-Ho Seo, and Hyun-Kyo Jung
International Journal of Control, Automation, and Systems, vol. 15, no. 2, pp.790-801, 2017
Abstract : "This paper presents the selection and design process of joint motors and gears for robot systems. The
velocity, acceleration, and torque profiles of each joint that satisfy a given task are calculated using dynamic and
kinematic analysis, and the required motor torque to drive the joint is calculated with respect to the combination of
module inertia and gear ratios. Considering energy efficiency, motor parameters, and switching characteristics of
the inverter, the correlation between the module inertia and gear ratio for driving joints is investigated, and the final
combination is determined by referring to commercial gear data sheets. From the determined motor inertia, various
motor designs are possible. To compare the performance and determine the optimal model, performance metrics of
drive motors, torque matching, coil temperature, and the motor constant, are proposed and the significance of these
figures are discussed."
Drive modules, gear ratio, motor inertia, performance metrics, selection and design.