Motor and gear transmission modeling without ADAMS/Machinery

I tried building a motor-gearbox model as an element of the manipulator using ADAMS/Machinery.

In my system, the input is voltage or current or torque (can be calculated ) to the motor, and output is motion.

The simulation works well, however, these elements (especially gear transmission element) makes the simulation slow even if I use 'Coupler' gear pair as a gear model.

In my case, the moment of inertia of the motor rotor should be under consideration.

But don't need to analyze contact force and friction between teeth of the gear in detail.

Also, the torque vs speed curve (I have) is necessary to consider to reproduce the motor output limitation.

But don't need to consider any other electrical performance characteristics (e.g. inductance, efficiency...).

Do you have ideas to reproduce the motor and gear transmission without using ADMAS/Machinery?

0 jozef.bucha over 5 years ago

I think you should do precisely what you described, model rotor, use there torque, which will be described with spline (torque v.s. speed)
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0 ryuki over 5 years ago

Thank you @Jozef Bucha .

OK, I think I can describe the torque-speed curve in spline and limit the applied torque using some functions.

Let R is gear ratio, N is the rotational speed of the motor, T is motor torque, I is motor rotor's moment of inertia. If motor torque T is applied, then the motor rotates in speed N, then the joint should rotate in speed N/R with torque TR. In this case, don't need to use a gear model if you ignore joint friction.

However, in case the external force (e.g. gravity, pushing by human...) will be applied to the end-effector of the manipulator, the reaction force should be calculated considering not only the applied torque to the motor but also the reflection by rotor's inertia.

If you just describe the input torque in TR, you cannot analyze this situation.
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