电驱足式机器人关节作动器研究综述  

Research Overview of Joint Actuators of Electric Drive Legged Robots

作　　者：吴文文 黄允凯[1] 彭飞[1] WU Wenwen;HUANG Yunkai;PENG Fei(School of Electrical Engineering, Southeast University, Nanjing, 210096, China)

机构地区：[1]东南大学电气工程学院,南京210096

出　　处：《微电机》2021年第9期101-108,共8页Micromotors

摘　　要：机器人关节作动器性能的好坏是保证机器人高性能运作的关键。该文首先介绍了机器人的主要分类:轮式、履带式和腿足式;然后简述了机器人的主要驱动方式:气驱动、液压驱动和电驱动;接着从结构构成、主要优缺点和应用场景等方面详细阐明了电驱足式机器人的三类主流关节作动器,并结合现有典型关节作动器产品分析其电机本体与控制的方案差异,归纳了目前主要面临的研究难点与现有解决方案;最后对电驱足式机器人关节作动器技术的发展给出了总结和展望。The performance of the joint actuators is the key to ensuring the high performance of the robots.This paper firstly introduced the main classifications of robots:wheeled,tracked and legged robots.Then,the main driving methods of the robots were briefly described,which were pneumatic drive,hydraulic drive and electric drive.The three mainstream joint actuators of electric drive legged robots were explained in detail in terms of structural composition,main advantages and disadvantages and application scenarios,and the differences in their motor and control schemes were analyzed in combination with existing typical products.Then,the current research difficulties and existing solutions were summarized.Finally,the development of joint actuators of electric drive legged robots was summarized and prospected.

关 键 词：腿足式机器人 电驱动 关节作动器 转矩密度 带宽 

分 类 号：TM351[电气工程—电机]