轻型机械臂模块化关节伺服性能优化分析  

Optimization Analysis of Servo Performance of Modular Joint of Light Duty Manipulator

作　　者：葛勇 沈晔超 GE Yong;SHEN Yechao(Anhui Mechanical and Electrical Vocational and Technical College,Wuhu Anhui 241002,China)

机构地区：[1]安徽机电职业技术学院,安徽芜湖241002

出　　处：《佳木斯大学学报（自然科学版）》2023年第4期106-108,124,共4页Journal of Jiamusi University：Natural Science Edition

基　　金：2020年度安徽教育厅高校科学研究项目(KJ2020A1111)。

摘　　要：模块化关节是一个高度集成的机电一体化伺服装置,不仅能够实现对位置的伺服控制,而且能进行力矩控制,还具有大负载重量比等一系列优点,被广泛应用于生产制造,医疗卫生等多个领域。但由于模块化关节结构动态特性造成机械臂伺服性能不佳,限制了模块化关节的应用,新设计模块化关节且建立了数学模型,通过Simulink仿真分析得出提升优化模块化关节的伺服性能的方式。The modular joint is a highly integrated mechatronic servo device,which can not only realize servo control of position,but also perform torque control,and has a series of advantages such as a large load-to-weight ratio,and is widely used in many fields such as manufacturing,medical and health care.However,due to the dynamic characteristics of the modular joint structure caused by the poor servo performance of the robot arm,limiting the application of modular joints.This paper newly designed modular joints and established a mathematical model,through Simulink simulation analysis to improve the optimization of the modular joint servo performance way.

关 键 词：模块化关节 伺服性能 SIMULINK仿真 优化 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]