Multifactorial determination of electromechanical module for prospective balanced manipulator

The method of efficient multifactorial determination of transmission gear parameters for selection of an electric motor of the vertical load motion system equipped with a prospective balanced manipulator was applied. The complex approach to selection of the power circuit for the balanced manipulator is based on considering three main restrictions: synchronization of electric motor and manipulator actuator rates, drive operation with the lowest possible value of the maximum torque and providing a stand-by mode of alive electric motor at the rated load. The required value of the gear reduction radius should be selected from the allowable range with the method of a compromise rational value of the reduction radius that could comply with all considered conditions. Rational parameters of the electromechanical module were selected at varying value of the motor reduction radius with due regard to the minimization criterion of the total maximum motor torque. Thus, the compromise selection of the required parameters of the electromechanical module was provided. It is recommended to apply high-speed synchronous electric motors with permanent magnetic field for development of prospective balanced manipulator.