Design consideration of actuator specifications in a mobile manipulator system
- Authors
- Lee, Jiyeong; Yu, Seungnam; Choi, Changhwan; Han, Changsoo
- Issue Date
- Jan-2010
- Publisher
- Professional Engineering Publishing Ltd.
- Keywords
- servo motor selection; manipulator design; field robot
- Citation
- Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, v.224, no.C1, pp.231 - 241
- Indexed
- SCIE
SCOPUS
- Journal Title
- Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science
- Volume
- 224
- Number
- C1
- Start Page
- 231
- End Page
- 241
- URI
- https://scholarworks.bwise.kr/erica/handle/2021.sw.erica/40548
- DOI
- 10.1243/09544062JMES1642
- ISSN
- 0954-4062
- Abstract
- This article presents a servo motor selection technique for a mobile mine detection system, which is operated in the field condition. As a first step, the mine detection sensor Should fallow the earth profile while maintaining a constant distance to the earth Surface. In order to acquire a reasonable manipulator trajectory and its required torque, a kind of modelling technique is devised to remove the unwanted fluctuations in the earth data. Then, Straete et al.'s normalization method is adopted and is improved to select the adequate actuator for each joint of the manipulator. The improvements are as follows: first, an equivalent output power lines are plotted at the same load curve, which gives another selection criterion. Second, a temperature-based criterion is proposed for the continuous limit, Which estimates the steady-state winding temperature of a motor, and can be used to determine a suitable motor and gear ratio. This formulation not only gives the selection of a motor and gear ratio, but also gives (lie estimated operating temperature.
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Collections - COLLEGE OF ENGINEERING SCIENCES > DEPARTMENT OF ROBOT ENGINEERING > 1. Journal Articles
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