Study about the dynamics of a translational robot axis based on ball screw transmission

The paper is focused on a detailed dynamic study for an axis belonging to a serial robot structure. It contains an analytical study for the driving moments for a translational robot axis based on ball screw transmission. The study of transmission gearing, and implicit a rigorous determination of the driving moments, along the cinematic chain of the mechanical robotic system is a fundamental aspect, with deep implications in optimal robot design in terms of sizing, power consumption and accuracy.