Multifactorial Determination of Electromechanical Module for Prospective Balanced Manipulator
DOI:
https://doi.org/10.14529/power160303Keywords:
balanced manipulator, multifactorial determination, electromechanical module, vertical motion systemAbstract
The method of efficient multifactorial determination of transmission gear parameters for selection of an electric motor of the vertical load motion system equipped with a prospective balanced manipulator was applied. The complex approach to selection of the power circuit for the balanced manipulator is based on considering three main restrictions: synchronization of electric motor and manipulator actuator rates, drive operation with the lowest possible value of the maximum torque and providing a stand-by mode of alive electric motor at the rated load.
The required value of the gear reduction radius should be selected from the allowable range with the method of a compromise rational value of the reduction radius that could comply with all considered conditions. Rational parameters of the electromechanical module were selected at varying value of the motor reduction radius with due regard to the minimization criterion of the total maximum motor torque. Thus, the compromise selection of the required parameters of the electromechanical module was provided. It is recommended to apply high-speed synchronous electric motors with permanent magnetic field for development of prospective balanced manipulator.
References
Belyanin P.N. (Ed.) Sbalansirovannye manipulyatory [Balanced Manipulators]. Moscow, Mashinostroenie Publ., 1988. 264 p.
Sukhenko N.A., Pyatibratov G.Ya. Elektromekhanicheskie i mekhatronnye sistemy upravleniya usiliyami promyshlennykh manipulyatorov [Electromechanical and Mechatronic Systems for Control of Industrial Manipulators Effort], Novocherkassk, Platov South-Russian State Polytechnic University (NPI) Publ., 2014. 164 p.
Sukhenko N.A., Pyatibratov G.Ya. [Perfecting Balanced Manipulators Control Systems]. Electromekhanika, Izv. vuzov [Russian Electromechanics, Scientific and Technical Journal], 2010, no. 5, pp. 77–81 (in Russ.)
Sukhenko N.A., Pyatibratov G.Ya., Danshina A.A [Perspective Electromechanical Systems for Control of Industrial Manipulator Efforts]. Electromekhanika, Izv. vuzov [Russian Electromechanics, Scientific and Technical Journal], 2015, no. 5 (541), pp. 76–81 (in Russ.)
Pyatibratov G.Ya. [Principles of Development and Realization for Effort Control System inside Springy Gears of Electromechanical Units]. Electromekhanika, Izv. vuzov [Russian Electromechanics, Scientific and Tech-nical Journal], 1998, no. 5–6, pp. 73–83 (in Russ.)
Debda D.E., Pyatibratov G.Ya. [The Analysis of Possibility of Active and Combined Electromechanical Weightlessness Object Gravity Compensation Systems]. Electromekhanika, Izv. vuzov [Russian Electromechanics, Scientific and Technical Journal], 2001, no. 2, pp. 33–37 (in Russ.)
Kravchenko O.A., Pyatibratov G.Ya. [Compensation of Friction Force Influence on Performance of Elec-tromechanical Complexes]. Novye tekhnologii upravleniya dvizheniem tekhnicheskikh ob"ektov: Materialy
II Mezhdunar. nauch.-tekhn. konf. [New Technologies of Motion Control of Technical Objects: Materials of the 2nd International Scientific and Technical Conference], 1999, Novocherkassk: YuRGTU, pp. 26–28 (in Russ.)
Pyatibratov G.Ya. [Multifactorial Determination of Parameters of Electromechanical Systems Compensating Gravity at Object Vertical Traverse]. Electromekhanika, Izv. vuzov [Russian Electromechanics, Scientific and Technical Journal], 1993, no. 5, pp. 65–70. (in Russ.)
GOST 26057–84. [Balanced Manipulators. General Specifications]. Moscow, Standartinform Publ., 1985. 10 p. (in Russ.)
Borovichskiy opytnyy mashinostroitel'nyy zavod. Sravnitel'naya tablitsa [Borovichi Experimental Engi-neering Plant. Comparative Table]. Available at: http://bomz.su/table/ (accessed 26.05.2016).
Gorbel. Intelligent Lifting Devices G-Force®/Easy Arm™. Available at: https://www.gorbel.com/
Resources/products/intelligentassistdevices/gforce/documents/g-forcebrochure.pdf (accessed 27.05.2016).
Knight Global, Inc. Ergonomic Material Handling Systems. Available at: http://www.knight-ind.com/ brochures/knight_global_product_catalog_web.pdf (accessed 27.05.2016).
Kopylov I.P. (Ed.) Spravochnik po elektricheskim mashinam. V 2 t. T. 2 [Electrical Machine Reference Book. 2 volumes, Vol. 2]. Moscow, Energoatomizdat Publ., 1989. 688 p.
