机械臂关节用无刷直流电动机热场计算与实验

Thermal Analysis of Brushless DC Motor for Robot's Arms Driving

机械臂关节用电机的性能对整个机械臂系统的稳定性具有重要影响,为了节省体积,电机设计时都选取较高的电磁负荷,从而导致了电机温升问题,且在外太空条件下尤为明显,因此,热分析对于电机设计参数的正确选取就显得尤为重要。以设计的某型机械臂用无刷直流电动机为例,应用有限元法分析了电动机内部的热场分布情况,给出了三维瞬态热场的计算模型、求解域内的基本假设及相应的边界条件,通过与实测温升结果的对比,验证了计算模型的正确性,为此类电动机的设计及热分析提供了参考依据。

The motor used in the joint of robot＇s arm is very important and has more influence on the system, in order to get the smaller volume, the flux density and the current density of the motor must be designed more higher. At the same time, the temperature in the motor is higher, especially in the outer space, so it is very important to calculate the thermal field of the motor and get the conclusion for the choice of the motor parameters. In this paper, the BLDC motor uesd for robot＇s arm driving is taken for example, the thermal field is analyzed by using FEM, the mathematic model of the 3D transient thermal temperature field is established, and hypothetical conditions and boundary conditions of the solved region are presented. By comparing the calculation results with measurement results show that the transient thermal field caultation model be verified.