机器人用精密减速器空载摩擦转矩分析与测量  

Analysis and Measurement of No-Load Friction Torque of Precision Reducers in Robots

作　　者：徐航[1,3] 何元春 吴耀庭 施军 谢桂平 赵新宇 XU Hang;HE Yuanchun;WU Yaoting;SHI Jun;XIE Guiping;ZHAO Xinyu(School of Meohatronics Engineering,Zhongyuan University of Technology,Zhengzhou 450007,China;School of Computer Science,Zhongyuan University of Technology,Zhengzhou 450007,China;Ningbo Xiasha Gear Co.,Ltd.,Ningbo 315202,China)

机构地区：[1]中原工学院机电学院,郑州450007 [2]中原工学院计算机学院,郑州450007 [3]宁波夏厦齿轮有限公司,浙江宁波315202

出　　处：《重庆理工大学学报（自然科学）》2020年第11期94-99,共6页Journal of Chongqing University of Technology：Natural Science

基　　金：国家自然科学基金项目(52075561);河南省高等学校重点科研项目(21A460035)。

摘　　要：目前工业领域通常将精密减速器的空载摩擦转矩转速曲线做线性化处理,未能客观反映低速阶段空载摩擦转矩随转速的变化规律,为此,对精密减速器的摩擦特性及模型进行分析,以RV减速器为例,进行测量实验。结果表明:精密减速器的空载摩擦转矩具有典型的Stribeck效应,在低速阶段空载摩擦转矩随转速的增加而减小,当转速大于某一值时,空载摩擦转矩随转速的增加而增加;Lorentzian模型可以精确描述精密减速器的Stribeck效应,具有理想的拟合效果。At present,the no-load friction torque with speed curve of precision reducers is usually linearized in the industrial field,which can not objectively reflect the variation of no-load friction torque with rotating speed at low speed stage.In this paper,the friction characteristics and model of precision reducers are analyzed.Taking the RV reducer as an example,the measurement experiment is carried out.The results show that the no-load friction torque has typical Stribeck effect that the noload friction torque decreases with the increase of rotating speed at low speed stage,and increases with the increase of rotating speed when the rotational speed is greater than a certain value.Lorentzian model can accurately describe the Stribeck effect of precision reducers and has ideal fitting effect.

关 键 词：精密减速器 空载摩擦转矩 Tustin模型 Gaussian模型 Lorentzian模型 

分 类 号：TH71[机械工程—测试计量技术及仪器]