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.
Highlights
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
The joints of a cooperative robot in an articulated robot system are generally driven by a drive module called a “Smart Actuator.”
To define the rigid body dynamics analysis model of the robot system to be developed, we considered a previous version of the robot system with similar specifications, i.e., the mass of each part was assumed to be in proportion to the mass of the robot parts of the previous version based on the expected dimensions and target total weight
Summary
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. The joints of a cooperative robot in an articulated robot system are generally driven by a drive module called a “Smart Actuator.”. This module incorporates a reducer, joint motor, stopper, drive, and sensor [5,6,7]. A rigid body dynamics analysis was performed on the robot system to analyze the load characteristics of the smart actuators required for the robot system. The design specifications of the joint motors were determined based on the results of the analysis of the load characteristics of the smart actuators. Weight Payload Reach Joint ranges Rated Joint Speed Rated Joint Acceleration Degrees of freedom
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