• Title/Summary/Keyword: DD(Direct-drive)

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On the Development of a Direct-Drive SCARA Robot (직접구훈(直接驅勳) 방식(方式)의 SCARA형(型) 로봇의 개발(開發)에 관(關)하여)

  • Lee, Gwan-Hyung
    • Proceedings of the KIEE Conference
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    • 1991.07a
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    • pp.813-816
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    • 1991
  • Direct-drive SCARA-type industrial robots are increasingly used in the assembly process of small mechanical parts as well as electronic components, which uses direct-drive (DD) motors instead of reduction gear-type conventional motors for the actuators of manipulator arms. There are many advantages in using DD motors for robots, such as no backlash, low friction, high mechanical stiffness capability for fast and precise arm control, and high repeatability of positioning. However, there exist a number of difficulties which must be overcome to ensure proper construction and operation; increasing effects of load veriation and nonlinear and coupling dynamics, severe vibration caused by resonance of the manipulator components and low mechanical damping, etc. In order to handle these difficulties, lots of efforts have been made such as reduction of the arm inertia and elimination of the resonance, Performance evaluation of a recently developed, domestic DD robot shows that it works excellently compared with conventional robots. It, however, requires proved reliability and price competitiveness against its foreign counterparts.

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A Study on the Position Control of the parallelogram link DD Robot Using Neural Network (신경회로망을 이용한 평행링크 DD로봇의 위치제어)

  • 김성대
    • Journal of the Korean Institute of Telematics and Electronics T
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    • v.36T no.3
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    • pp.64-71
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    • 1999
  • In this paper, two degree of freedom parallelogram link mechanism is used as DD(Direct-drive) robot mechanism. In parallelogram link mechanism, two motors being established in each base frame, the mass of motor itself is not loaded to anther motor; the number of links are increased, the mass of arm being lighter; with the estabilishment of link parameter, nonlinearity such as the centrifugal force disappears; at the same time anti-interference between motors can be realized. And to realize highy-accurate drive of parallelogram link DD robot manipulator, to improve the learning speed through the design of leaning control system using neural network, to raise adapting power to the varied work objects; the learning control algorithm is composed of neural network and feedback controller in this paper.

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Water-Cooled Direct Drive Permanent Magnet Motor Design in Consideration of its Efficiency and Structural Strength

  • Lee, Ji-Young;Hong, Do-Kwan;Woo, Byung-Chul;Kim, Kyu-Seob;Hong, Jung-Pyo
    • Journal of Magnetics
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    • v.18 no.2
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    • pp.125-129
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    • 2013
  • This paper deals with a water-cooled direct drive permanent magnet (DD-PM) motor design for an injection-molding application. In order to meet the requirements for the target application and consider the practical problems of the manufacturing industry, the DD-PM motor is designed in consideration of efficiency and structural strength with many constraints. The performances of the designed motor are estimated not only by magnetic field analysis, but also by thermal and structural analysis. The design and analysis results are presented with experiment results.

Analysis to reduce the acceleration time and deceleration time of direct drive robot (직접구동형로봇의 가감속시간 단축에 관한 연구)

  • 임규영;이광남;고광일
    • 제어로봇시스템학회:학술대회논문집
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    • 1990.10a
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    • pp.372-376
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    • 1990
  • This paper represents a control method of improving the performance of direct drive robot. The direct transfer of torque and rotational speed of direct drive motor to the robot body without reduction gear makes the robot speed fast. However, the variation of inertia matrix and low friction cause the control difficult, and one more effort must be in the reducing the acceleration and deceleration time to reduce the cycle time. To fasten the cycle time and to improve the robustness of robot, one control method is developed, and implemented in the Goldstar DD robot. This method does not need to change the conventional PI type control structure, but one additional compensational control law is required. The control law can be obtained via inverse dynamic model of robot, and inverse model of existing control loop. The effects of this control law are shown in this paper.

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Compliance Control of DD Manipulator using Ultrasonic Motor (초음파 모터를 사용한 DD 매니퓰레이터의 컴플라이언스 제어)

  • Kim, Dong-Ok;Sin, Duck;Kim, Won-Bae;Sung, Do-Saing;Kim, Young-Dong
    • Proceedings of the KIPE Conference
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    • 1996.06a
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    • pp.47-51
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    • 1996
  • In this paper, we propose a method for compliance control of a SCARA type 2-freedom direct drive(DD) manipulator. Each joint of the manipulator is driven by a travelling ultrasonic motor(USM). The travelling USM has good some characteristics over conventional servo motors such as compact size, light weight, silent motion, high torque and high speed response. By controlling the elasticity and viscosity of robot joints, a robot can work in compliance with external environment. we control the elastic coefficient and the viscous coefficient of joint by adjusting the phase difference of the motor power. And we contemplate transient response of USM with adjusting the elastic coefficient and the viscous coefficient. To use the result, we can control the robot to reach its goal with compliance motion. It remains for further research to develop the impedance control of USM.

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A new approach to control of variable reluctance motors for DD robots (DD 로봇용 VR 모터의 제어를 위한 새로운 방식)

  • 김창환;하인중;하태균;고명삼;김동일
    • 제어로봇시스템학회:학술대회논문집
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    • 1992.10a
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    • pp.664-669
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    • 1992
  • In this paper, we present a DSP-based high dynamic performance torque control scheme of variable reluctance motors(VRM's) for DD(Direct Drive) robots via function inversion technique. The VRM with our controller behaves like DC motors, and hence developed torque tracks given torque command accurately with no torque ripples. Furthermore, our torque control algorithm ensures the production of maximum constant torque under maximum current limitation, minimizes power loss in each phase resistance, and takes magnetic saturation effect into account. Also, since our control algorithm is represented in the form of look-up table, it can be easily implemented with simple digital circuits and this tabular design method is computationally more accurate and simpler compared to the prior methods.

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The Study on the improvement of Characteristics of Permanent Magnet Synchronous Motor for Washing Machine (세탁기용 영구자석 동기전동기의 특성 향상에 관한 연구)

  • Jung, Dae-Sung
    • Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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    • v.29 no.10
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    • pp.47-53
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    • 2015
  • IPMSM(Insert Permanent Magnet Synchronous Motor) is a very high degree of freedom in the design according to the permanent magnet insertion position. And the performance of IPMSM is affected a lot on barrier shape which determines the magnetic flux path from magnet. Thus the position of permanent magnet and the barrier shape has to be designed by considering both specification and operation condition. In the paper, the permanent magnet and barrier shape which is suitable for direct drive motor of washing machine has been studied. In addition, in order to verify the validity of the study, the test was evaluated by making a prototype motor.

Rotation Speed and Torque Characteristics of Ultrasonic Motor by Phase difference (위상차에 의한 초음파 모터의 속도와 토오크 특성)

  • Kim, Dong-Ok;Ko, Nack-Yon;Choi, Han-Su;Cha, In-Su;Woo, Su-Yong;Kim, Young-Dong
    • Proceedings of the KIEE Conference
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    • 1994.07a
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    • pp.328-330
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    • 1994
  • The Ultrasonic motor(USM) has many good characteristics such as high torque at low speed range, large holding torque based upon frictional force, high speed response, flexible free ferns, compactness in size, low magnetic noise and silentness in motion. Because of having low speed rotation, USM is good as an actuator of a small size direct drive (DD) manipulator. The acturators for the DD manipulators must have good controllability on the speed and torque from zero to maximum value continuously. New method was developed for speed and torque control by the phase difference control of the two-phase driving signals of the motor. Then rule adjustable compliant and dumped motion was realized on the output shaft of the motor by PD control of the output shaft angle.

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An improvement of simple adaptive control method by use of derivative action and its application to DD serve system

  • Ohtomo, A.;Iwai, Z.;Fukuda, H.;Mizumoto-I.;Dozono, H.
    • 제어로봇시스템학회:학술대회논문집
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    • 1992.10b
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    • pp.152-157
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    • 1992
  • The simple adaptive control(SAC) method has attracted attention for interest of the simple structure of its adaptive controller. We establish that the introduction of output derivative action to the original SAC system definitely improves the response characteristic of the control system. The effect of such an introduction is confirmed through experimental results by applying the method to a servo control system using a direct drive (DD) motor.

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A Sensitivity and Performance Analysis for Torque Mode Switching on 2MW Direct Drive Wind Turbine Generator (2MW급 직접구동형 풍력발전기의 풍황 민감도 및 토크모드 스위칭 성능 해석)

  • Rho, Joo-Hyun
    • The Transactions of The Korean Institute of Electrical Engineers
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    • v.63 no.10
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    • pp.1455-1460
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    • 2014
  • Wind turbine generators were designed on general regulations of wind condition. At real situations, it could be different from the design conditions. There are many control methods and definitions of transient region, because an efficient wind turbine generator control logic is the important matter in generator performance and annual energy production at real conditions. In this document, the power generation sensitivity for wind speed and turbulence intensities was defined to know the sensitive transient region. Wind conditions are applied for the ranges of 7~10m/s mean wind speed and 14~20% turbulence intensity. The sensibility of HR-D86 wind generator was increased in transient region(8~10m/s) on power curve diagram through a torque control to a pitch control. And then GH-bladed simulations was performed for performance analysis of the torque mode switching in transient region on 2MW direct drive wind generator(HR-D86) which is designed IEC class II for onshore. Through the sensitivity and performance analysis, the sensitivity for real wind condition could be the performance index for an wind generator. And the torque mode switching in transient region can increase the mean power generation on HR-D86 wind turbine generator.