This document is a dynamic model of a hardware test bench for robot motor modules.
As a student project, I designed and built a specialized measurement system that is able to perform complex testing procedures of robot motor modules. It both measures and controls motor current, torque, position, temperature and its derivations – which form the basic key state variables that are important to characterize a robot motor module. It is also able to perform highly automated testing procedures.
The test rig was desigend with the idea in mind to create highly flexible testing environment that can easily be extended and adapted for future demands.
When running dynamic experiments, it is crucial to consider the inherent dynamics of the test rig itself. Every component within the test rig can be described as an inertia and an internal stiffness. This leads to a multy-body dynamics problem which I modelled in this document. Providing the eigenfrequencies, inertia and stiffness, this part presents the basics for further dynamics analysis. As it includes all components and considers their interactions, it ensures that the complete system is able to work together.
Ferdinand Elhardt, Oct 2020