一种集成谐波减速器的一体电机

A Type of Actuator Combined by Servor Motors and Harmonic Drives

提出了集成谐波减速器一体电机的概念。该电机是一种由高精度伺服电机和高精密谐波减速器等核心零部件按一定方式高度集成为一体的模块化产品,该产品集合伺服电机和谐波减速器的特点,可以作为一种新型的高精度、大扭矩、低转速、小体积的特种电机。采用该一体电机,可以大大减少由于分体式结构带来的设计和安装误差,同时也方便后期的维护与保养。为了在产品性能与成本之间寻找平衡点,采用非支配排序遗传算法(NSGAII)对某集成谐波减速器一体电机进行了多目标优化设计,得到了相应的帕累托解,方便用户选型。同时,根据优化结果,选取了一款一体电机进行样机研制,研制结果显示,该一体电机在成本、体积、易安装性等方面具有优势。

A new type of actuator,gear-motor with harmonic drive combined by servor motors was proposed. It featureshigh precision, large torque, low speed and small volume. Using this actuator can greatly reduce the design and installationerrors caused by split structure, and facilitate the later maintenance. In order to find a balance between performanceand cost of new products,non-dominated sorting genetic algorithm （NSGA-II） was used to do multi-objective optimizationfor one selected actuator. The optimal results, Pareto front, can help the designers to make a final selection fromthe Pareto optimal solutions. According to the optimization results, a prototype was made and tested. The results show thatthis new actuator has advantages in terms of cost, size and ease of installation.