Optimal Transmission Ratio Selection for Electric Motor Driven Actuators with Known Output Torque and Motion Trajectories

[+] Author and Article Information
Harrison L. Bartlett

Mechanical Engineering, Vanderbilt University, Nashville, TN 37235

Brian E. Lawson

ASME Member Mechanical Engineering, Vanderbilt University, Nashville, TN 37235

Michael Goldfarb

Professor Fellow of the ASME Mechanical Engineering, Vanderbilt University, Nashville, TN 37235

1Corresponding author.

ASME doi:10.1115/1.4036538 History: Received July 12, 2016; Revised March 09, 2017


This paper presents a method for selecting the optimal transmission ratio for an electric motor for applications for which the desired torque and motion at the transmission output are known a priori. Representative applications for which the desired output torque and motion are periodic and known include robotic manipulation, robotic locomotion, powered prosthetics, and exoskeletons. Optimal transmission ratios are presented in two senses: one that minimizes the root mean square (RMS) of electrical current and one that minimizes the RMS electrical power. An example application is presented in order to demonstrate the method for optimal transmission ratio selection.

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