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

Ji-Heon Lee, Ji-Young Lee, Phuong Thi Luu and Tung Khanh Nguyen
Additional contact information
Ji-Heon Lee: Electric Machines and Drives Research Center, Korea Electrotechnology Research Institute (KERI), Changwon 51543, Korea
Ji-Young Lee: Electric Machines and Drives Research Center, Korea Electrotechnology Research Institute (KERI), Changwon 51543, Korea
Phuong Thi Luu: Energy and Power Conversion Engineering, University of Science and Technology (UST), Daejeon 34113, Korea
Tung Khanh Nguyen: Electric Machines and Drives Research Center, Korea Electrotechnology Research Institute (KERI), Changwon 51543, Korea

Energies, 2021, vol. 14, issue 20, 1-16

Abstract: 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.

Keywords: articulated robot; joint motor design; thermal analysis; rigid body dynamics; torque estimation (search for similar items in EconPapers)
JEL-codes: Q Q0 Q4 Q40 Q41 Q42 Q43 Q47 Q48 Q49 (search for similar items in EconPapers)
Date: 2021
References: View references in EconPapers View complete reference list from CitEc
Citations:

Downloads: (external link)
https://www.mdpi.com/1996-1073/14/20/6690/pdf (application/pdf)
https://www.mdpi.com/1996-1073/14/20/6690/ (text/html)

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:gam:jeners:v:14:y:2021:i:20:p:6690-:d:656865

Access Statistics for this article

Energies is currently edited by Ms. Agatha Cao

More articles in Energies from MDPI
Bibliographic data for series maintained by MDPI Indexing Manager ().