Journal of the Korea Institute of Military Science and Technology (한국군사과학기술학회지)

The Korea Institute of Military Science and Technology (한국군사과학기술학회)
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A Motor Selection Criteria for a Mechatronic System and Its Application to Design a Mine Detection Manipulator for a Multi-Purpose Dog-Horse Robot

기전 시스템의 구동 모터 선정 방법과 견마로봇용 지뢰탐지 구동 장치에의 적용

  • Published : 2007.12.30
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Abstract

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.

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References

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