Selection of DC motors and reduction gears for robots with consideration of energy consumption.

Abstract

The data bases of DC Servo motors and reduction gears on the market are constructed. Based on them, the minimum capacity method is proposed as an exellent selection method of motors and reduction gears, which makes the capacities of motors minimum for given mechanisms and works. Motors and reduction gears are selected for some robot mechanisms and prescribed works by the minimum capacity method and by the impedance matching method respectively, and the amounts of energy consumption by the motors selected by the two methods are calculated and compared with each other. Contributions of the self-locking function and efficiency of reduction gears to the energy consumption are also discussed.