一种集成谐波减速器的一体电机  

A Type of Actuator Combined by Servor Motors and Harmonic Drives

作　　者：王卫军[1] 朱群馨 谭金玺 罗修洋 朱群峰 李亚运[1] 黄泓铭 WANG Wei-jun;ZHU Qun-xin;TAN Jin-xi;LUO Xiu-yang;ZHU Qun-feng;LI Ya-yun;HUANG Hong-ming(No.21 Research Institute of CETC,Shanghai 200233,China;Sichuan Anhe Precision Electronics Co.,Ltd.,Mianyang 621000,China;Ningbo Zhongda Leader Intelligent Transmission Co.,Ltd.,Ningbo 315001,China;O -Film Tech Co.,Ltd.,Nanchang 330000,China)

机构地区：[1]中国电子科技集团公司第二十一研究所,上海200233 [2]四川安和精密电子电器有限公司,绵阳621000 [3]宁波中大力德智能传动股份有限公司,宁波315301 [4]欧菲光科技有限公司,南昌330000

出　　处：《微特电机》2018年第7期55-58,共4页Small & Special Electrical Machines

摘　　要：提出了集成谐波减速器一体电机的概念。该电机是一种由高精度伺服电机和高精密谐波减速器等核心零部件按一定方式高度集成为一体的模块化产品,该产品集合伺服电机和谐波减速器的特点,可以作为一种新型的高精度、大扭矩、低转速、小体积的特种电机。采用该一体电机,可以大大减少由于分体式结构带来的设计和安装误差,同时也方便后期的维护与保养。为了在产品性能与成本之间寻找平衡点,采用非支配排序遗传算法(NSGAII)对某集成谐波减速器一体电机进行了多目标优化设计,得到了相应的帕累托解,方便用户选型。同时,根据优化结果,选取了一款一体电机进行样机研制,研制结果显示,该一体电机在成本、体积、易安装性等方面具有优势。A new type of actuator,gear-motor with harmonic drive combined by servor motors was proposed. It featureshigh precision, large torque, low speed and small volume. Using this actuator can greatly reduce the design and installationerrors caused by split structure, and facilitate the later maintenance. In order to find a balance between performanceand cost of new products,non-dominated sorting genetic algorithm （NSGA-II） was used to do multi-objective optimizationfor one selected actuator. The optimal results, Pareto front, can help the designers to make a final selection fromthe Pareto optimal solutions. According to the optimization results, a prototype was made and tested. The results show thatthis new actuator has advantages in terms of cost, size and ease of installation.

关 键 词：集成谐波减速器电机 谐波减速器 伺服电机 多目标优化设计 

分 类 号：TM351[电气工程—电机]