国内外机器人关节测试技术研究现状及展望  

Status and prospects of domestic and international research on robot actuator testing technology

作　　者：石照耀[1] 程慧明 SHI Zhaoyao;CHENG Huiming(Beijing Engineering Research Center of Precision Measurement Technology and Instruments,Beijing University of Technology,Beijing 100124,China)

机构地区：[1]北京工业大学北京市精密测控技术与仪器工程技术研究中心,北京100124

出　　处：《哈尔滨工程大学学报》2023年第5期679-688,共10页Journal of Harbin Engineering University

基　　金：北京市教委-北京市基金联合项目(KZ201910005005);中关村开放实验室概念项目(Q7001004202101)。

摘　　要：关节是机器人进行姿态控制的核心执行部件,其性能对整机性能有直接影响,对其测试和评价是提高关节性能的重要基础。本文从应用场景、工作原理、结构设计等方面对关节技术现状进行分析。归纳总结了关节的传动精度、响应参数、机械参数及电参数的测试原理及测试方法。从整体上分析关节测试设备现状,阐述了面向大型关节和小型关节的两类测试设备。对关节测试技术存在的难点做出分析和讨论,并对其未来的发展方向做了展望。Joints are the core components of robotic posture control,and their performance has a direct impact on the overall performance of robots.Joint testing and evaluation are important foundations for improving joint performance.In this work,we analyze the current state of joint technology from the perspectives of application scenarios,working principles,and structural design and summarize the testing principles and methods for joint transmission accuracy and response,mechanical,and electrical parameters.Furthermore,we analyze the current state of joint testing equipment as a whole and elaborate in detail on the two types of testing equipment oriented to large and small joints.On the basis of the above work,we analyze and discuss the difficulties in joint testing technology and look forward to its future development.

关 键 词：机器人 关节 测试方法 传动精度 机械参数 响应参数 电参数 测试设备 

分 类 号：TH89[机械工程—仪器科学与技术]