机器人关节无刷电机驱动与控制系统研究

Research on brushless motor drive and control system for robot joints

针对目前机器人关节成本高、控制系统复杂、集成度较低等问题,设计了模块化机器人关节及控制系统.根据关节设计需求,采用STM32F103芯片作为主控芯片,DRV8313作为无刷电机驱动芯片,对机器人关节的无刷电机驱动电路进行设计;结合控制器局域网络(CAN)、Windows呈现基础(WPF)上位机开发,设计了操作简便的多关节控制系统;为满足机器人关节尺寸微型化设计,减速组结构选择为二级串联行星结构.介绍了无刷电机驱动原理,从硬件和软件上介绍了控制系统的实现方法,并搭建实验平台对该设计进行验证.实验结果表明:设计的机器人关节及控制系统具有模块化、微型化等特点,运行平稳可靠,适用于微小型服务机器人与机器手控制使用.

Because of the current high cost of robot joints,complex control systems,and low integration,a modular robot joint and control system were designed.According to the joint design requirements,the STM32F103 chip was used as the main control chip,and the DRV8313 was used as the brushless motor driver chip.The brushless motor drive circuit of the robot joint was designed.Combined with the development of controller area network(CAN)bus and Windows presentation foundation(WPF)host computer,a simple and easy-to-operate multi-joint control system was designed.To meet the miniaturization design of the robot joint size,the structure of the robot joint was designed with a series planetary reduction group structure.The brushless motor drive principle was introduced in detail,the realization method of the control system was introduced from the hardware and software,and experiments were set up to verify the design.The experiments show that the designed robot joints and control system have the characteristics of modularization and miniaturization.It runs smoothly,reliably and is suitable for miniature service robots and robotic hands.