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