FIELD: mechanics; electrical engineering.
SUBSTANCE: design of the robot electrical drive envisages serial connection of the first summator, the first multiplier unit, the second summator, the amplifier and the first speed sensor connected to the electrical motor. The electric motor is connected to the drive gear and the first position sensor via the reduction gear box. The electric drive is additionally equipped with the following components, serially connected: the fourth cosine functional generator and the ninth multiplier unit whose second input and output are connected to the seventh summator output and the sixth summator input accordingly.
EFFECT: complete insusceptibility of the robot electric drive dynamic performances to continuously and quickly varying instantaneous load characteristics.
2 dwg
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