一种四足机器人伺服电机设计与优化  

A Design and Optimization of a Quadruped Robot Servo Motor

作　　者：莫为 莫会成 顾苗苗 李红 郝健 王洪彦 刘康 MO Wei;MO Huicheng;GU Miaomiao;LI Hong;HAO Jian;WANG Hongyan;LIU Kang(Xi’an Xiwei Intelligent Technology Ltd. ,Xi’an 710077,China;Shaanxi Science and Technology Holding Group Co. , Ltd. ,Xi’an 710077,China;Shaanxi Science and Technology Holding Research Institute of Technology Industry Co. , Ltd. , Xi’an 710077,China)

机构地区：[1]西安西微智能科技有限公司,西安710077 [2]陕西科技控股集团有限责任公司,西安710077 [3]陕西科控技术产业研究院有限公司,西安710077

出　　处：《微电机》2019年第10期1-6,共6页Micromotors

基　　金：陕西省重点研发计划项目(2016KTZDGY4-05、2018ZDXM-GY-088、2016KTZDGY-02-01)

摘　　要：针对某四足机器人用伺服驱动电机的技术要求,通过理论分析与有限元仿真优化,设计了一款高转矩密度、低转矩波动以及拥有较好转矩电流线性度的永磁无刷力矩伺服电机,并对原理样机进行了试验验证,其性能指标均满足技术要求。Aiming at the technical requirements of servo drive motor for a quadruped robot, through theoretical analysis and finite element simulation optimization, designed a permanent magnet brushless torque servo motor with high torque density, low torque fluctuation and better linearity of torque and current. The prototype was tested and verified, and its performance index was satisfied with technical requirements.

关 键 词：伺服电机 永磁电机 齿槽转矩 转矩波动 转矩电流线性度 

分 类 号：TM383.4[电气工程—电机]