Sarvarov A.S., Omelchenko E.Ya., Vasilyev A.E., Belyi A.V., Fomin N.V. Analysis of Operation of Electric Drive of Robotic System Mechatronic Module

doi 10.18503/2311-8318-2016-1(30)-4-9

download PDF

Abstract

The main task of the research work was to analyze mechanical and energy characteristics of the electric drive module constructed according to the scheme «direct current motor – harmonic drive», which is used as a basic unit in the process of modern anthropomorphic robots design at the scientific-production association «Android Engineering». The research work was carried out to specify the technical characteristics of the harmonic drive. The kinematic chain of the unit, technical information about the commutator motors and the harmonic drive are given in the article. The research group performed calculations of mechanical characteristics in the system motor-harmonic drive for different levels of supply voltage. The authors determined mechanical characteristics as a relationship between the torque on the motor shaft and the rotational velocity for different static loads. They also calculated the torque losses in the harmonic drive depending on the rotational velocity of the motor and offered mathematical description of the relationship between the torque losses and the rotational velocity, which makes it possible to take into account the characteristics of the harmonic drive in the process of simulation of operation of the drive modules constructed according to the scheme «direct current motor – harmonic drive».

Keywords

Mechatronic drive module, robotic system, anthropomorphic robot, electric motor, harmonic drive, experimental facility, mechanical characteristics, torque losses of harmonic drive.

Sarvarov Anvar Sabulkhanovich – D.Sc. (Eng.), professor, head of Automated Electrical Drive and Mechatronics department, Nosov Magnitogorsk State Technical University, Magnitogorsk, Russia. E-mail: This email address is being protected from spambots. You need JavaScript enabled to view it..

Omelchenko Evgeniy Yakovlevich – D.Sc. (Eng.), Associate Professor of Automated Electrical Drive and Mechatronics Department, Nosov Magnitogorsk State Technical University, Magnitogorsk, Russia. E-mail: This email address is being protected from spambots. You need JavaScript enabled to view it..

Vasilyev Alexander Evgenyevich – Ph.D. (Eng.), associate Professor of Electronics and Microelectronics Engineering department, Nosov Magnitogorsk State Technical University, Magnitogorsk, Russia.

Belyi Aleksey Vladimirovich – Ph.D. (Eng.), Associate Professor, Automated Electric Drive and Mechatronics Department, Nosov Magnitogorsk State Technical University, Magnitogorsk, Russia.

Fomin Nikolaj Vladimirovich – Assistant Professor of Automated Electrical Drive and Mechatronics Department, Nosov Magnitogorsk State Technical University, Magnitogorsk, Russia.

1. Decree of the President of the Russian Federation signed on 16.12.2015 № 623 «Concerning the National center of technology and robotic system elements development», Moscow, 2015.

2. Sarvarov A.S., Vasilyev A.E., Danilenko K.V., Menshikova E.V. Sravnitelnyi analiz privodov mekhatronnykh sistem [Comparative Analysis of Drives for Mechatronic Systems], Elecrotechnical systems and complexes, 2015, no.4(25), pp. 21-25.

3. Program 2012/13. High-precision drives and systems. «Makson» company catalogue.

4. Ilyinskyi N.F. Osnovy elektroprivoda [Fundamentals of Electric Drive], textbook, Мoscow, MPEI, 2003, 220 p.

Details
Hits: 1376