OPTIMAL SERVOMOTOR SELECTION ALGORITHM FOR INDUSTRIAL ROBOTS AND MACHINE TOOLS NC AXIS
Journal Title: Proceedings in Manufacturing Systems - Year 2014, Vol 9, Issue 2
Abstract
This paper presents a complete calculus algorithm for selecting the optimal servomotors of the kinematic chains included in the numerically controlled axes (NCA) of machine tools (NCMT) and industrial robots (IR). The algorithm can be applied for both type controlled axes, i.e. industrial robots, and machine tools, as well as either rotation axis or translation axis, regardless of their mechanical structure. The presented calculus algorithm includes six major steps: defining the working cycle motion diagram for the operated mechanical system and complementary input data; identifying the static and dynamic forces applied to the driven system during operation and the specific mechanical structure on NCA (i.e. specific transfer ratio of each included mechanism); preliminary selection of the driving servomotor by checking the kinematic criterion; determining of the total resistant equivalent load applied on the driven element; secondary selection of the driving servomotor by checking the static and dynamic criterion; and tertiary selection of the driving servomotor by checking the performance parameters related to full kinematic chain driving (acceleration time, braking time, servomotor's thermal behavior). The motor finally chosen represents the optimum solution for driving the NCA in terms of satisfying all imposed criteria (kinematic criterion, static criterion, dynamic criterion) and complying as well the necessary performance requirements for NCA's electro-mechanic driving system.
Authors and Affiliations
A. Nicolescu, C. Avram, M. Ivan
Keywords
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