Measurements of the dynamic characteristics of the ASEA IRB6/2 robot, and developments in servomotors and drives for robot actuators are described. Measurements show that the effect of the load on each axis is very important, and decreases the dynamic possibilities of the robot. The first axis should be moved by a bigger motor. The fifth axis dynamic characteristics are lowered by the whole kinematic chain, and an improvement could be found in the simplification of the chain. The review of servomotors shows how a permanent magnet material could improve their characteristics.
Measurement on the Servo-Systems of the ASEA IRB6/2 Robot and Analysis of Servomotors for Robots
1984
115 pages
Report
No indication
English
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