基于尺度律的轻量化协作机器人关节传动系统优化选型  

Optimal selection of joint transmission system for lightweight cooperative robot based on scaling law

作　　者：林家春[1,2] 苏浩 员若男 LIN Jiachun;SU Hao;YUN Ruonan(Faculty of Materials and Manufacturing,Beijing University of Technology,Beijing 100124,China;Beijing Engineering Research Center of Precision Measurement Control and Instruments,Beijing 100124,China)

机构地区：[1]北京工业大学材料与制造学部,北京100124 [2]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：《机电工程》2023年第9期1363-1370,共8页Journal of Mechanical & Electrical Engineering

基　　金：北京市教委一市自然基金委联合资助项目(KZ20191005005)。

摘　　要：协作机器人关节是协作机器人总重量的主要来源,其核心部分是由电机和谐波减速器组成的传动系统,决定着整个关节的重量和性能。实现关节轻量化设计的关键是对电机和减速器进行优化选型。为了解决协作机器人结构笨重、功耗高等问题,提出了一种基于尺度律的关节传动系统的优化选型方法。首先,建立了关节传动系统的动态模型,并确定了电机和减速器的选择条件;然后,构建了以电机和减速器重量最小化为目标的优化函数;因所提出的优化函数涉及众多参数,需要首先对其进行简化,据此提出了一种尺度律的方法,将优化函数简化为仅由电机堵转转矩和减速比两个参数组成,并用电机和减速器实际数据对尺度律的正确性进行了验证;最后,为了对基于尺度律的优化选型方法的有效性进行验证,参照市售的机器人关节性能参数,分别进行了仿真实验和实际试验,并完成了最终的关节设计。研究结果表明:在仿真实验中,采用该选型方法得到的电机和减速器重量相较于关节原始设计重量减轻了约20%,从而验证了该方法的有效性;在实际的选型试验中,选型得到的电机和减速器的总重量相较于原始设计减轻了18%,从而进一步验证了该方法可以满足关节轻量化的设计要求。The joint of cooperative robot is the main source of the total weight of cooperative robot,and its core part is the transmission system composed of motor and harmonic reducer,which determines the weight and performance of the whole joint.The key to realize lightweight design of joints is to optimize the selection of motors and reducers.In order to solve the problems of heavy structure and high-power consumption of cooperative robot,an optimal selection method of joint transmission system based on scaling law was proposed.First,the dynamic model of the joint drive system was established and the selection conditions of the motor and reducer were determined.Then,the optimization function aiming at minimizing the mass of the motor and reducer was constructed.Since the proposed optimization function involved many parameters needed to be simplified,a method of scaling law was proposed.The optimization function was simplified to be composed of only two parameters of motor locked-rotor torque and reduction ratio.The correctness of scaling law was verified by the actual data of motor and reducer.Finally,in order to verify the effectiveness of the proposed optimization selection method,simulation experiments and actual experiments were carried out with reference to the commercially available joint performance parameters,and the final design of the joint was completed.The results show that the weight of the motor and reducer obtained by this selection method is reduced by about 20%compared with the original design mass of the joint in the simulation experiment,which verifies the effectiveness of this method.In the actual type selection test,the total weight of the selected motor and reducer is reduced by 18%compared with the original design,which further verifies that the method can meet the design requirements of joint lightweight.

关 键 词：机械传动机构 关节模组 传动系统优化 轻量化设计 减速器 尺度律 优化函数 

分 类 号：TH132[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]