| A Motor Selection Criteria for a Mechatronic System and Its Application to Design a Mine Detection Manipulator for a Multi-Purpose Dog-Horse Robot |
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Chang-Hwan Choi, Seung-Ho Jung, Seok-Hwan Kim, Jeong-Yeob Lee, Tok-Son Choe, Sang-Chul Chung, Yong-Woon Park |
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| 기전 시스템의 구동 모터 선정 방법과 견마로봇용 지뢰탐지 구동 장치에의 적용 |
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최창환, 정승호, 김석환, 이정엽, 최덕선, 정상철, 박용운 |
1한국원자력연구원 핵주기원격장치랩
2한국원자력연구원 원자력로봇랩
3(주)로템, 체계 개발 1팀
4국방과학연구소 |
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| Abstract |
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This paper presents a motor selection technique for a manipulator design that is used in a multipurpose dog-horse robot. Since the dynamics of a manipulator and its servo drives are closely related to each other, it requires a repetitive analysis to determine a suitable motor. In order to simplify this procedure, Straete et al. proposed a simple normalization method to separate the load dependent terms and the motor dependent terms. This technique is adopted in this paper for selecting a motor in designing a manipulator. |
| Key Words:
Servo Motor Selection, Manipulator Design |
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