四自由度串联机器人用电磁作动器设计  

Design of electromagnetic actuator for 4-DOF serial robot

作　　者：魏国莲 李积元 WEI Guolian;LI Jiyuan(Department of Mechanical and Electrical Engineering,Qinghai Higher Vocational and Technical College,Haidong 810799,China;School of Mechanical Engineering,Qinghai University,Xining 810500,China)

机构地区：[1]青海高等职业技术学院机电工程系,青海海东810799 [2]青海大学机械工程学院,青海西宁810500

出　　处：《传感器与微系统》2022年第4期81-85,共5页Transducer and Microsystem Technologies

基　　金：青海省科学技术厅科技计划基金资助项目(2020-ZJ-740)。

摘　　要：为了满足微型机器人应用的多样化需求并提升其可操作性,提出了一种小型化、模块化的双轴电磁作动器(EMA)。首先,研究了所提EMA的设计结构和工作原理。然后,对EMA进行了有限元分析,并研究了产生的力矩和旋转角对其性能的影响。其次,使用两个EMA来生成一个微型四自由度串联机器人。最后,在正逆运动学之后采用开环控制器,并结合图像处理技术对机器人性能进行了测试。研究结果表明:该EMA在仿真时实现了100 mN·m的力矩,且在实测时实现了80 mN·m的力矩。此外,该EMA可以实现10°(≈0.2 rad)的旋转。机器人末端执行器能够以适度的误差跟踪预定的圆形轨迹,验证了其可靠性。该EMA具有重量轻、体积小、可操作性强等优点,通过多个模块连接能够满足多种应用需求。In order to meet the diversified requirements of micro-robot applications and improve its operability,a miniaturized and modularized biaxial electro-magnetic actuator(EMA)is proposed.Firstly,the design structure and working principle of the proposed EMA are studied.Then,the finite element analysis of EMA is carried out,and the influence of generated torque and rotation angle on its performance is studied.Secondly,two EMAs are used to generate a miniature four-degree-of-freedom serial robot.Finally,the open-loop controller is used after the forward and inverse kinematics,and the performance of the robot is tested by combining with the image processing technology.The results show that the EMA achieves a torque of 100 mN·m in simulation and 80 mN·m in actual measurement.In addition,the EMA can realize 10°(≈0.2 rad)rotation.The robot end effector can track the predetermined circular trajectory with moderate error,which verifies its reliability.The EMA has the advantages of light weight,small volume,strong operability and so on,and can meet various application requirements by connecting multiple modules.

关 键 词：微型机器人 串联机构 电磁作动器 机器人运动学 模块化 

分 类 号：TM154.1[电气工程—电工理论与新技术] TH39[机械工程—机械制造及自动化]