Towards searching the operating equilibrium hexapod motor temperature

Walid Jhinaoui (1) , Alain Vissiere (2) , Olivier Company (1) , Guillaume Mayaud (1) , Pierre Noire (3) , Thierry Roux (3) , Sébastien Krut (1) , François Pierrot (1)

1 DEXTER - Robotique médicale et mécanismes parallèles
2 LCM - Laboratoire commun de métrologie LNE-CNAM
3 Symétrie Inc.

Thermal expansion is one of the main sources of inaccuracy in hexapods (parallel robots with 6 degrees of freedom also known as Gough platform). The heat sources that cause thermal expansion can be internal or external to the robot. The main internal heat source of the hexapod is the motor. This paper presents a comparative study of three methods (experimental, analytical and numerical) to predict the temporal evolution of the temperature in the motor of the hexapod. The theoretical study has been correlated by experimental measurements of temperature in several points of the motor. One of the goals of this study is to determine the time needed to reach a stable temperature in the engine.

Domaines: Physique [physics]

Walid Jhinaoui, Alain Vissiere, Olivier Company, Guillaume Mayaud, Pierre Noire, et al.. Towards searching the operating equilibrium hexapod motor temperature. ICCAD 2021 - 5th IEEE International Conference on Control, Automation and Diagnosis, Nov 2021, Grenoble, France. pp.1-6, ⟨10.1109/ICCAD52417.2021.9638758⟩. ⟨hal-03500263⟩