服务机器人小型关节综合性能测试软件设计

Comprehensive Performance Testing Software for Small-Size EMA Used in Service Robots

介绍了基于Visual C++环境下的服务机器人小型关节综合性能测试机软件设计。小型关节作为服务机器人的重要组成部分,对机器人运动控制起到了关键作用。传统的机器人关节测试机测试参数不全面,需要对关节进行拆分,测试效率低。基于机器人小型关节工作原理设计的综合性能测试机解决了上述难题。测试软件采用模块化的设计方法,完成了测试流程控制、传感器数据采集、力矩电机控制和小型关节通信等工作,提供人机交互界面以及测试结果和数据的显示、保存及再现等功能。可以实现对小型关节传动精度、电参数、机械性能的快速测试,为寻找小型关节最佳工况提供参考,可应用于不同工况下服务机器人小型关节的综合测试。

The design of comprehensive performance testing software for small-size EMA(electro-mechanical actuator)used in service robots based on Visual C++is introduced.As an important part of robot,EMA plays an important role in robot motion control.The traditional EMA testing machine does not have comprehensive testing parameters and needs to split the joints,so the test efficiency is low.The above problems were solved by comprehensive performance testing machine based on the working principle of small-size EMA.The software adopts the modular design method to complete the works of measurement process control,sensor data acquisition,torque motor control and small-size EMA communication,and provides some functions,such us man-machine interaction interface and the display,preservation and reproduction of test results and data.It can realize the quick test of the transmission precision,electrical parameters and mechanical property of small-sized EMA,provide a reference for finding the best working conditions of small-sized EMA,and can be applied to the comprehensive test of small-sized EMA of service robot under different working conditions.