Dynamic analysis and co-simulation ADAMS-SIMULINK for a space manipulator joint

Wang, Yan‐Bo; Li, Ke; Zhou, Haiping; Deng, Songbo; Xu, Jian; Liu, Jiayu

doi:10.1109/fpm.2015.7337258

Cited by 7 publications

(1 citation statement)

References 3 publications

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“…The main feature of the cooperative robot is that it shares a workspace with humans and is lighter and smaller than existing industrial robots, which makes it easier for the cooperative robots to move access various work sites. Robot systems with these advantages are being actively researched with regard to the optimal structure and performance of robot parts for stability, reliability, miniaturization, and lightness of the system [1][2][3][4].…”

Section: Introductionmentioning

confidence: 99%

Design of the Joint Motor for an Articulated Robot Considering Joint Load Characteristics

Lee

Luu

et al. 2021

Energies

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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.

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Section: Introductionmentioning

confidence: 99%