| contributor author | P. Chedmail | |
| contributor author | M. Gautier | |
| date accessioned | 2017-05-08T23:33:02Z | |
| date available | 2017-05-08T23:33:02Z | |
| date copyright | November, 1990 | |
| date issued | 1990 | |
| identifier issn | 1087-1357 | |
| identifier other | JMSEFK-27747#361_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/107147 | |
| description 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. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Optimum Choice of Robot Actuators | |
| type | Journal Paper | |
| journal volume | 112 | |
| journal issue | 4 | |
| journal title | Journal of Manufacturing Science and Engineering | |
| identifier doi | 10.1115/1.2899600 | |
| journal fristpage | 361 | |
| journal lastpage | 367 | |
| identifier eissn | 1528-8935 | |
| keywords | Robots | |
| keywords | Actuators | |
| keywords | Modeling | |
| keywords | Databases | |
| keywords | Inertia (Mechanics) | |
| keywords | Torque | |
| keywords | Friction | |
| keywords | Temperature AND Coulombs | |
| tree | Journal of Manufacturing Science and Engineering:;1990:;volume( 112 ):;issue: 004 | |
| contenttype | Fulltext | |
