Optimum Choice of Robot Actuators

Abstract

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.