%0 Book Section %1 Kaiser2024a %A Kaiser, Benedikt %A Schäfer, Adrian %A Schütz, Andreas %A Parspour, Nejila %A Lechler, Armin %A Verl, Alexander %B 2024 International Symposium on Power Electronics, Electrical Drives, Automation and Motion (SPEEDAM) %D 2024 %K Adaptation_models Couplings Electric_variables_measurement Robotic_Actuator System_dynamics Transfer_functions Transient_response electrical_preload hp_iew multi-motor torque %P 1184--1190 %R 10.1109/SPEEDAM61530.2024.10609128 %T Identification of a Lumped-Parameter-Model for a Dual-Motor Robotic Drive Train with Backlash and Electrical Preload %X The mechanical interface of rotating robot joints require torque to speed ratios that are not suitable for an elec-tromagnetic direct drive. Typically, gearboxes are used to convert torque and speed, although these introduce non-linear backlash into the system. By using a dual-motor drive train, it is possible to electrically preload the gearbox and compensate for the backlash. In order to describe the system dynamics, a lumped-parameter-model is presented for which the parameters are determined to represent an experimental setup. Measurements are carried out in various coupling scenarios and the associated parameters of the subsystems of the models are identified. The measurement and the model are further adapted through optimization. Based on the evaluated transfer functions, the model is able to describe the basic behavior of the system. The measurements with coupled motors and activated preload indicate persistent differences from the actual system. However, the presented model may be applied in simulation and control to improve the dynamics of a dual-motor robot drive train with backlash-prone gearing and the possibility of electrical preload.

@incollection{Kaiser2024a, abstract = {The mechanical interface of rotating robot joints require torque to speed ratios that are not suitable for an elec-tromagnetic direct drive. Typically, gearboxes are used to convert torque and speed, although these introduce non-linear backlash into the system. By using a dual-motor drive train, it is possible to electrically preload the gearbox and compensate for the backlash. In order to describe the system dynamics, a lumped-parameter-model is presented for which the parameters are determined to represent an experimental setup. Measurements are carried out in various coupling scenarios and the associated parameters of the subsystems of the models are identified. The measurement and the model are further adapted through optimization. Based on the evaluated transfer functions, the model is able to describe the basic behavior of the system. The measurements with coupled motors and activated preload indicate persistent differences from the actual system. However, the presented model may be applied in simulation and control to improve the dynamics of a dual-motor robot drive train with backlash-prone gearing and the possibility of electrical preload.}, added-at = {2025-03-10T09:03:38.000+0100}, author = {Kaiser, Benedikt and Sch{\"a}fer, Adrian and Sch{\"u}tz, Andreas and Parspour, Nejila and Lechler, Armin and Verl, Alexander}, biburl = {https://puma.ub.uni-stuttgart.de/bibtex/27e9db1f7c804c40ed35051da44ff2d2f/iew_homepage}, booktitle = {2024 International Symposium on Power Electronics, Electrical Drives, Automation and Motion (SPEEDAM)}, doi = {10.1109/SPEEDAM61530.2024.10609128}, file = {Kaiser, Sch{\"a}fer et al 2024 - Identification of a Lumped-Parameter-Model:Attachments/Kaiser, Sch{\"a}fer et al 2024 - Identification of a Lumped-Parameter-Model.pdf:application/pdf}, interhash = {1b1cd42693c5a4824b0eb023e58c30ab}, intrahash = {7e9db1f7c804c40ed35051da44ff2d2f}, keywords = {Adaptation_models Couplings Electric_variables_measurement Robotic_Actuator System_dynamics Transfer_functions Transient_response electrical_preload hp_iew multi-motor torque}, pages = {1184--1190}, timestamp = {2025-03-10T09:03:38.000+0100}, title = {Identification of a Lumped-Parameter-Model for a Dual-Motor Robotic Drive Train with Backlash and Electrical Preload}, year = 2024 }