On the Drive Systems for High-Performance Machines

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Abstract
The choice of actuators and transmissions in high performance machines and manipulators can have a profound effect on the time required for a specified machine task. For systems operating with mechanical constraints, such as limits on allowable angular velocities in motors, designing for greatest achievable acceleration will not always minimize move time. In this paper the effects on performance of ranges of choices of actuators and transmission mechanisms are evaluated, and guidelines for choosing the optimal drive elements are presented.

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