机器人关节伺服器传动系统机电耦合动态特性研究  

Study on Electromechanical Coupling Dynamic Characteristics of Robot Joint Servo Transmission System

作　　者：莫帅 杨振宁 冯志友[1,2] 李旭 周长鹏 岑国建 黄云生 Mo Shuai;Yang Zhenning;Feng Zhiyou;Li Xu;Zhou Changpeng;Cen Guojian;Huang Yunsheng(School of Mechanical Engineering,Tiangong University,Tianjin 300387,China;Tianjin Key Laboratory of Modern Electromechanical Equipment Technology,Tianjin 300387,China;State Key Laboratory of Digital Manufacturing Equipment and Technology,Huazhong University of Science and Technology,Wuhan 430074,China;Ningbo Zhongda Leader Intelligent Transmission Co.,Ltd.,Ningbo 315301,China;Shenzhen Hefa Gear Machinery Co.,Ltd.,Shenzhen 518109,China)

机构地区：[1]天津工业大学机械工程学院,天津300387 [2]天津市现代机电装备技术重点实验室,天津300387 [3]华中科技大学数字制造装备与技术国家重点实验室,湖北武汉430074 [4]宁波中大力德智能传动股份有限公司,浙江宁波315301 [5]深圳市合发齿轮机械有限公司,广东深圳518109

出　　处：《机械传动》2022年第9期19-27,共9页Journal of Mechanical Transmission

基　　金：国家自然科学基金(51805368);中国科协青年人才托举工程资助项目(2018QNRC001);数字制造装备与技术国家重点实验室开放项目(DMETKF2021017)。

摘　　要：目前,机器人关节伺服器向着微型化、集成化发展,针对智能机器人操作精度要求高,对机器人关节伺服器典型的电机拖动齿轮机电耦合系统,进行不同工况下的动态特性研究十分有必要。为此,根据多级齿轮系统时变啮合特性及无刷电机动态特性,建立了多级齿轮系统动力学模型和无刷电机动态模型,搭建了机器人关节伺服器传动系统机电耦合动力学模型;分析了该系统的自由扭振特性和系统模态能,并进一步研究了在稳态工况和冲击载荷工况下机器人关节伺服器传动系统的动态响应特性。结果表明,多级齿轮系统和电机之间存在机电耦合效应,在该系统遭受冲击后,齿轮副啮合力以及齿轮扭振波动变得剧烈后趋于稳定。At present,the robot joint servo is developing towards miniaturization and integration. In view of the high operation accuracy requirements of intelligent robots,it is very necessary to study the dynamic characteristics of the typical motor driven gear electromechanical coupling system of robot joint servo under different working conditions. According to the time-varying meshing characteristics of multistage gear system and the dynamic characteristics of brushless motor,a dynamic model of multistage gear system and brushless motor is established,and an electromechanical coupling dynamic model of robot joint servo transmission system is established. Based on this model,the free torsional vibration characteristics and modal energy of the system are analyzed,and the dynamic response characteristics of the robot joint servo transmission system under steady-state and impact load conditions are further studied. The results show that there is an electromechanical coupling effect between the multistage gear system and the motor. After the system is impacted,the meshing force of the gear pair and the torsional vibration of the gear become violent and then tend to become stable.

关 键 词：机器人关节 微型伺服器 传动系统 机电耦合 动态特性 

分 类 号：TH132.41[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]