On the eve of Human-Robot-Interaction (HRI) becoming customary in our lives, the
performance of HRI robotic devices remains strongly conditioned by their gearboxes. In most …

The independent joint control approach with motor-side velocity and position feedback still
dominates most industrial robot applications. Although it is known, that the elasticity of the …

Some light materials, such as hollow sphere composite (HSC), carbon fiber reinforced
plastic (CFRP), and aluminum alloy (AA), are currently used in the design of lightweight …

The design of an optimal and versatile haptic device should enable human to achieve
complex remote tasks in a safe and ergonomic environment. The paper presents a design …

This paper describes a new approach to the design of a lightweight robotic arm for service
applications. A major design objective is to achieve a lightweight robot with desired …

A drive train optimization method for design of light-weight robots is proposed. Optimal
selections of motors and gearboxes from a limited catalog of commercially available …

AC servomotors are widely used in industrial robot manipulators to drive high dynamic
loads; thus, an appropriate selection and control of the motors contributes to a better …

This paper aims to concurrently select and control off-the-shelf BLDC motors of industrial
robots by using a synergistic model-based approach. The BLDC motors are considered with …

With the widespread application of industrial robots, there is growing interest in optimizing
their energy consumption during motion processes. Traditional methods typically rely on …

With regard to the important role of motors and transmissions in the performance of
electromechanical and robotic systems, this paper intends to provide a solution for the …