Model-based temperature estimation methods in design of industrial manipulator and their assessment

Estimation of the steady state temperature rise of an industrial manipulator and its key components is often desired in the design of a manipulator. This paper presents and compares three model-based methods which aim to achieve the temperature estimation in early design phase before prototype test. The basic idea of each method is introduced along with the results of corresponding experimental verifications. The verifications basically demonstrates the feasibility of the methods. The accuracy of the temperature estimation by all three methods is acceptable for use in early design phase. A brief assessment of the methods is also presented which should be helpful for users to select the most suitable method in design practice.