0

Full Content is available to subscribers

Subscribe/Learn More  >

Development of a Test Bed System for Robot Actuators

[+] Author Affiliations
Jae Gu Yoo, Paul Hvass, Delbert Tesar

University of Texas at Austin, Austin, TX

Paper No. DETC2004-57414, pp. 1073-1079; 7 pages
doi:10.1115/DETC2004-57414
From:
  • ASME 2004 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 2: 28th Biennial Mechanisms and Robotics Conference, Parts A and B
  • Salt Lake City, Utah, USA, September 28–October 2, 2004
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4695-4 | eISBN: 0-7918-3742-4
  • Copyright © 2004 by ASME

abstract

This paper describes the design and utilization of an advanced dynamic dynamometer test bed for electromechanical robot actuators. Typically actuators are tested at steady state under continuous load, but this is insufficient to characterize the nonlinear properties of actuators. The test bed was specifically designed with the capability to emulate high bandwidth complex duty cycle loads. Furthermore, the test bed is modular which enables rapid reconfiguration of test components. The test bed is comprised of a servo motor which serves as a dynamic load emulator, a brake, a clutch, full sensor array for comprehensive monitoring of test variables, and supporting motion control hardware. Two preliminary tests of a permanent magnet synchronous motor (PMSM) were conducted to demonstrate some of the test bed’s capabilities. These included a torque ripple test and a test to determine torque variation for a sinusoidal load at constant speed. The results show increased torque ripple for increasing speed. The sinusoidal loading test demonstrates the nonlinearities associated with actuator dynamics. Future testing will focus on the full characterization of an actuator.

Copyright © 2004 by ASME
Topics: Robots , Actuators

Figures

Tables

Interactive Graphics

Video

Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

NOTE:
Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In