Modelling a Brushless DC Motor Power Source Based Two-Finger Gripper
DOI:
https://doi.org/10.26874/jt.vol8no1.326Keywords:
Brushless DC Motor, modelling, identification, gripperAbstract
In industrial automation system and robotic fields, men use gripper as end manipulator to do simple manipulation tasks as grasping, screwing, pulling, etc. In order to obtain stability in manipulating an object, the gripper has to receive the proper current to produce proper gripper force. Therefore the modelling the gripper, hence, plays an important role. The gripper being modelled has two state: open and close. The finger is open, when finger moves away from each other, and close when the finger moves to each other. Opening the gripper can be done by sending voltage 0 to +5 V to the gripper, and close by sending -5 V to 0 V. The voltage magnitude determines the acceleration of the finger movement, hence, the gripforce is determined by the dynamic of the current sent to the brushless dc motor in the gripper. This paper discuss the modelling process of the gripper. At the end, we will have a mathematical model of the gripper.
References
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(2) E.A. Lomonova, and J.B. Klassens, “Electrical actuarors for mechatronic applicationsâ€, Delft University of Technology, Control laboratory report, October 1998.
(3) Paresh C. Sen,â€Electric Motor Drives and Control — Past, Present and Future,†0278 —046/90/1200-0562$01.00 O 1990 IEEE.
(4) Timothy M. Rowan and Russel J. Kerkman,†A New Synchronous Current Regulator and an Analysis of Current-Regulated PWM Inverters,†IEEE Transaction on Industry Appplication, VI. IA-22, No. 4, July/August 1996.
(5) M.T.P, Surapati.†Toolboxes of Permanent Magnet Brushless Motor for Aircraft On-Board Applicationsâ€, Delft University of Technology, Control Laboratory, Master thesis, March 1999.
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