Optimal Variable Transmission Ratio and Trajectory for an Inertial Load With Respect to Servo Motor Size

[+] Author and Article Information
H. J. Van de Straete, J. De Schutter, K. U. Leuven

Dept. of Mechanical Engineering, Division P.M.A., Celestijnenlaan 300B, B-3001 Heverlee, Belgium

J. Mech. Des 121(4), 544-551 (Dec 01, 1999) (8 pages) doi:10.1115/1.2829497 History: Received June 01, 1998; Revised September 01, 1999; Online December 11, 2007


This paper addresses the selection of the optimal trajectory and transmission ratio for a servo motor driving a purely inertial load. Both aspects are studied with respect to the required motor torque and are formulated in a dimensionless fashion. Consequently, the results are generally valid and answer the following questions. What is the gain in terms of required motor torque by optimising the trajectory for minimal motor torque given a required smoothness? What is the corresponding optimal trajectory? What is the gain in terms of required motor torque by inserting a mechanism (variable transmission) between the motor and the load? What is this optimised variable transmission ratio? The final example shows how a realistic mechanism can approximate this theoretically optimised variable transmission ratio and, hence, the corresponding reduction in required motor torque.

Copyright © 1999 by The American Society of Mechanical Engineers
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