Improving the precision of mechatronic robot drives

Abstract

A new structure is proposed for precision servo drives in industrial robots, and its properties are analyzed. The servo drive is a mechatronic device containing high-precision sensors, microcontrollers, and electrical and mechanical components. The theoretical results that underlie the design of a precision drive containing an elastic mechanical transmission with free play are outlined. Computer simulation indicates high precision of the drive and its suitability for use in industrial robots.