内窥镜夹持机器人驱动电机参数的确定

Determination of the Parameters of the Drive Motor for Endoscopic Holding Robot

介绍了内窥镜夹持机器人的结构与运动特征,因其要具备良好的运动特性而需配备高质量驱动电机。对内窥镜夹持机器人进行建模,分析了其驱动转矩、功耗、动能和转动惯量,并对驱动电机的参数——额定转矩和转动惯量进行确定。

The structure and motion characteristics of the endoscope holding robot were introduced.Because of its good motion characteristics,it needs to be equipped with a high-quality drive motor.By modeling the endoscope holding robot and analyzing its driving torque,power consumption,kinetic energy and rotary inertia,the parameters of the drive motor i.e.the rated torque and rotary inertia were defined.