Influence of Dynamic Characteristic of Motor on Steady Motion of Machine

Technological advances increasingly result in situations when simplest dynamic models with rigid links cannot be used and there is need for more complex models that consider the elasticity of links. This is caused by more intensive technological processes and higher operating speeds of machines, which leads to a growing level of vibrations. The motion equations of a machine unit include the motion equation of the mechanical system and the characteristics of the motor. Ideal motor characteristics can be used at the early stages of machine designing, while a more accurate dynamic analysis requires consideration of the dependencies of the law of motion on the load, reflected by static and dynamic properties. In machine designing it is essential to reduce dynamic errors caused by elastic vibrations of the mechanisms and dynamic properties of the motor in steady-state and transient modes of operation. This problem is particularly important when new high-performance machines and, above all, industrial robots, positioning platforms, etc. are created.