నైరూప్య

Mathematical Modeling of Industrial Chains

AM Abdelkader, C Mahfoud, B Hamid

Each time one designs an automatic mechanism, the choice of the size of the electrical motors which are regarded as the main elements of any electromechanical system may be difficult. All technical and economic indices depend on the adequate size choice and the optimality of the operation modes of these motors. To be able to effectively undertake the study of the motorization of a complex industrial mechanism, the development of a simplified model is important for dimensioning and selecting the appropriate motor. This paper proposes a comprehensive and complete approach for the development of simplified models and the mathematical formulation of the dynamic equations of movements in the complex industrial mechanisms. These simplified models can be easily solved by numerical methods and their solutions can be used in the size selection. In this paper, the models that have been developed are valid for various applications starting from a simple mechanism with only one degree of freedom to the complex manipulator arms of the robots.