The robotic electric servo drive system is an actuator that directly or indirectly drives the robot body to obtain various movements of the robot by using the torque and force generated by various motors.
For industrial robot joint-driven motors, maximum power-to-mass ratio and torque inertia ratio, high starting torque, low inertia, and a wide and smooth speed range are required. In particular, motors such as robot end-effectors (hands) should use motors with the smallest possible volume and mass. Especially when fast response is required, the servo Motor must have high reliability and stability, and have a large short-time overload. ability. This is a prerequisite for the application of servo motors in industrial robots.
The main requirements of the robot for the joint drive motor are as follows:1, rapidity
The time from the motor to the command state required to complete the command should be short. The shorter the response time of the command signal, the higher the sensitivity of the electric servo system and the better the fast response performance. Generally, the performance of the servo motor is reflected by the electromechanical time constant of the servo motor.
2. The starting torque inertia ratio is large
When the load is driven, the starting torque of the servo motor of the robot is required to be large, and the moment of inertia is small.
3. The continuity and linearity of the control characteristics. As the control signal changes, the rotational speed of the motor can continuously change. Sometimes the rotational speed is proportional to or proportional to the control signal.
4, the speed range is wide.
Can be used for the speed range of 1:1000 ~ 10000.
5. Small size, small mass and short axial dimension.
6, can withstand harsh operating conditions, can carry out very frequent forward and reverse and acceleration and deceleration, and can withstand overload in a short time.
At present, AC servo motors with high starting torque, high torque and low inertia are widely used in industrial robots. Most industrial robots with a load of 1000 N or less (equivalent to 100 kgf) use electric servo drive systems. The joint drive motors used are mainly AC servo motors, stepper motors and DC servo motors. Among them, AC servo motor, DC servo motor and direct drive motor (DD) adopt position closed-loop control, which is generally used in high-precision and high-speed robot drive systems. The stepping motor drive system is suitable for small and simple robot open-loop systems that do not require high precision and speed. AC servo motors are widely used in flammable and explosive environments due to electronic commutation and no commutation sparks. The power range of the robot joint drive motor is generally 0.1 to 10 kW. An electric motor used in industrial robot drive systems.
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