A Comparative Approach Regarding the Dynamic Behaviour of Planetary Transmissions Used in Industrial Robots

Paul Alin Butunoi; Gheorghe Stan; Catalina Ciofu; Ana Lacramioara Ungureanu

doi:10.4028/www.scientific.net/AMM.834.120

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 834A Comparative Approach Regarding the Dynamic...

A Comparative Approach Regarding the Dynamic Behaviour of Planetary Transmissions Used in Industrial Robots

Abstract:

The dynamic characteristics of planetary transmissions have a direct influence over the possibilities of industrial robots regarding the imposed trajectory. Also, the conditions specific to the achievement of the transient regime have a significant influence over the positioning accuracy of the robots. In this paper, a comparative approach is proposed, applied to four types of planetary transmissions, concerning the gyration torque distribution and computation. Based on the computation equations presented in this paper, some optimization strategies concerning the response times of the overall kinematic chains are proposed.

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Periodical:

Applied Mechanics and Materials (Volume 834)

Pages:

120-125

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.834.120

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Online since:

April 2016

Authors:

Paul Alin Butunoi*, Gheorghe Stan, Catalina Ciofu, Ana Lacramioara Ungureanu

Keywords:

Gyration Torque, Planet Carrier, Response Times, Transient Regime

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