扭矩嵌入检测的机器人关节伺服舵机研究  

Research on the Servo Steering Gear with Built-in Torque Sensing for Robot Joint

作　　者：谢光辉[1,2] 张进春[2] 程福刚 吴德明[2] 

机构地区：[1]重庆电子工程职业学院机电工程系,重庆401331 [2]重庆大学机械传动国家重点实验室,重庆400044 [3]重庆三华工业有限公司,重庆400700

出　　处：《自动化仪表》2010年第7期26-28,共3页Process Automation Instrumentation

基　　金：国家留学基金资助项目(编号:2007102654)

摘　　要：为提高绘图机器人的轨迹跟踪精度,提出了一种嵌入式扭矩检测的谐波驱动伺服舵机。首先介绍了绘图机器人的结构;然后从机械结构、扭矩检测原理和控制方法这三方面对嵌入式扭矩检测的谐波驱动伺服舵机进行了设计。该伺服舵机通过贴于谐波齿轮柔轮上的应变片来检测机器人各关节扭矩,这种结构既不增加系统的物理尺寸,也不减小其刚性。最后,将所设计的伺服舵机应用于绘图机器人进行绘图,实验结果表明了其有效性。In order to enhance the trace tracking accuracy of the robot cartographer,the harmonic driven servo steering gear with built-in torque sensing mechanism is proposed.The structure of the robot cartographer is introduced first,then the design of such kind of servo steering gear is described from three aspects,i.e.,mechanical structure,principle of torque measurement and control method.The torque of the robot joint is detected by the strain gauge that stucks on the flexispline of the harmonic gear.The structure does not increase the physical dimensions of the system,and not decrease the rigidity.Finally the servo steering gear has been applied in robot cartographer for drawing,the experiments indicate its effectiveness.

关 键 词：数字信号处理器 嵌入式扭矩检测 谐波驱动 伺服舵机 应变片 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]