Methods of Efficient Parameters Multifactorial Determination of Industrial Manipulators Gears and Electric Drives

AbstractThe method of multifactorial determination of efficient parameters of springy gears and electric drives of load vertical traverse by the balanced manipulators is developed. The complex approach is offered in relation to the power circuit choice of the electromechanical force compensating systems taking into account minimization of mass, applicability of a nonreversible motor and work with low value of the maximum torques, active limitation of dynamic efforts in springy elements of mechanics using electric drive and other factors allowing to improve the design of electromechanical systems of special lifting devices, industrial manipulators and robots, simulator complexes and testing workbenches. The choice of the desired reduction radius value of the gear from the allowable value range is recommended to be made using two approaches: an optimum setting using minimization criterion of the total maximum motor torque and a compromise derivative of the efficient value of the reduction radius satisfying performance of all the considered conditions