机器人用直驱永磁电机研究与发展综述

An Overview on Developments and Researches of Direct Drive Permanent Magnet Machines for Robots

直驱永磁电机以其直接驱动负载、低损耗、高力矩密度和高控制精度等优越性能,成为机器人直驱系统的重要设备之一。介绍了机器人用各类直驱永磁电机的拓扑结构、工作原理以及国内外的研究现状,剖析了直驱永磁电机的设计分析方法、控制技术以及分析了各自优缺点,展望了机器人直驱式永磁电机未来的研究发展趋势。

The direct drive permanent magnet motor is one of the important equipment of the robot direct drive system,which has the merits of direct load, low loss, high torque density, high control accuracy,etc. The basic structures,workingprinciples and research status of different direct drive permanent magnet motors for robots were introduced. The designand analysis methods as well as the control theories were presented and its advantages and disadvantages were also analyzed.The research direction of the robot direct drive type permanent magnet moto in the futurer was discussed.