机器人控制模块中的执行驱动技术研究——一维工作平台电机选型计算

Research on Actuating Technology in Robot Control Module:One Dimensional Working Platform Motor Selection Calculation

驱动元件,也称为执行元件,介于电子控制装置和执行器界面上的转换能量的元件。执行元件通过电子测量控制装置将输入的能量转换成系统所需要的机械能,实现这个功能的途径是通过电子控制器发指令给传动机构,机电传动机构经过内部控制过程再驱动执行机构来实现能量的转化。本文主要探讨了模块化机器人中的相关执行驱动技术,比较全面的论述了执行元件的性能特点和相关类型,对机电控制系统执行机构的要求进行了讨论和研究。最后总结出一维工作平台电机的选型理论计算方法。

The driving element, also known as an actuator, is a device that converts energy between an electronic control device and an actuator interface. The executive component converts the energy input into the mechanical energy required by the system through the electronic measurement control device. The way to realize this function is to send instructions to the drive mechanism through the electronic controller. The mechanical and electrical drive mechanism drives the executive mechanism through the internal control process to realize the energy conversion. This paper mainly discusses the related executive drive technology in modular robot,comprehensively discusses the performance characteristics and related types of actuator, and discusses and studies the requirements of the actuator of electromechanical control system.Finally, the method of calculating the selection of one-dimensional working platform motor is summarized.