服务机器人小型关节综合性能测试机  

Testing machine for small-size electro-mechanical actuator used in robots

作　　者：石照耀[1] 程慧明 朱逸文 张攀 张临涛 丁宏钰 SHI Zhao-yao;CHENG Hui-ming;ZHU Yi-wen;ZHANG Pan;ZHANG Lin-tao;DING Hong-yu(College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing 100124, China)

机构地区：[1]北京工业大学机械工程与应用电子技术学院,北京100124

出　　处：《光学精密工程》2020年第8期1707-1714,共8页Optics and Precision Engineering

基　　金：北京市教委-北京市基金联合资助项目(No.KZ201910005005)。

摘　　要：为了解决服务机器人小型关节整机性能测量手段缺乏以及测量项目单一的问题,根据小型关节的特点研制了服务机器人小型关节综合性能测试机,实现了对小型关节传动精度、电参数和机械特性的测量。测试机由精密机械系统、测控硬件系统和测控软件系统组成。测试机主机采用卧式结构,设计了专用夹具,在保证测量精度的同时满足了不同型号关节的测量要求;开发的测试软件不仅能满足小型关节多个性能指标的综合测量,还能对测量进行分析。实际测试结果表明,测试机运行稳定,精度符合设计要求,重复性测量偏差小于3%,覆盖小型关节型号范围广,能实现自动化精密测量。测试机的研制为建立面向服务机器人小型关节的全局质量评价体系提供了手段。An electromechanical actuator(EMA)is the main component for the attitude control of robotic systems.This study focuses on solving the problems of a robot′s incapability in measuring small-size EMAs,inability to reflect the machine performance comprehensively,and single measurement item.According to the characteristics of small-size EMAs,a testing machine for the comprehensive performance test was developed to measure the transmission accuracy,electric parameters,and mechanical characteristic of small-size EMAs.The testing machine mainly comprises a precision mechanical system,control hardware system,and measurement and testing software.The testing machine adopts a horizontal structure.A special fixture is designed to satisfy the measurement requirements of different types of EMAs while ensuring the accuracy of the measurement system.The developed test software not only satisfies the comprehensive measurement of multiple performance indicators of small-size EMAs,but can also analyze the measured results.Test results show that the measuring machine operated stably,with a repeatable measurement deviation of less than 3%,thereby encompassing a wide range of small-size EMAs.The precision conforms to the design requirements,and the testing machine can yield automatic precision measurements.The development of the testing machine facilitates the establishment of an overall quality evaluation system for small-size EMAs.

关 键 词：机器人 小型关节 传动精度 电力参数 反启动转矩 动态测试机 

分 类 号：TH71[机械工程—测试计量技术及仪器]