Considerations in Selection of DC Motors for Lightweight Arms
Book, Wayne John
Dickerson, Stephen L.
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This paper addresses the relationship between the weight of DC moving-coil permanent-magnet motors and the requirements for the driven motion. The requirements for motion are assumed to be made in terms of a maximum absolute velocity and a maximum absolute acceleration. A move consists of periods of maximum acceleration and periods of maximum velocity, so called trapezoidal velocity profiles. The load on the motor/drive-train is characterized by a maximum torque (or force) which is assumed to occur during a period of maximum acceleration. The DC motor is assumed to be limited by a maximum torque applied magnetically to the armature (essentially a maximum current) and by a maximum armature speed. Within these constraints simple procedures for identifying the lightest motors are given. An analysis of several series of popular motors is provided which defines the current state-of-the-art for such motors.