A motor selection technique for designing a manipulator

This paper presents a servo motor selection technique for a manipulator design. Straete et al. ´s normalization method is adopted and is improved. The improvements are as follows: First, an equivalent output power lines are plotted at the same load curve, which gives another selection criterion. Second, a temperature based criterion is proposed for the continuous limit, which estimates the steady state winding temperature of a motor, and can be used to determine a suitable motor and gear ratio. This formulation gives not only the selection of a motor and gear ratio, but also gives the estimated operating temperature.