Sizing the Mechanical and Electrical Performances of a Two-DoF Manipulator Design Taking into Account PMSM Type Three-Phase AC Servo Motor

Inverse dynamics models of a two-DoF manipulator with three-phase AC servo motor are essential for sizing the mechanical and electrical performances. This paper addresses such a task by developing the integrated dynamical model of the system in the form of sizing methodology. Given the kinematics parameters of links (geometrical dimensions and centre of gravity), knowledge of mass distribution, kinematics of joints (position, velocity and acceleration) as well as parameters of mechanical transmission and electrical motor, mechanical and electrical performances are successfully quantified using Lagrange, Lagrange-Euler and Newton-Euler methods. Finding results show that the Newton-Euler produces highest values among the Lagrange and Lagrange-Euler methods. The results can be automatically employed for sizing motor specification based on the calculation of manipulator mechanics and extended to the development of control system for manipulator stabilization.