工业机器人伺服传动系统对整机性能影响研究

Research on the influence of industrial robot servo drive system on the performance of the whole machine

为研究精密减速器、伺服电机作为核心零部件应用在工业机器人上对整机性能的影响,提出基于伺服-精密传动系统的机电耦合分析、测试及评价方法。以永磁同步电机为研究对象建立伺服系统矢量控制数学模型及双闭环电机矢量控制算法模型。对伺服传动系统运行品质模型仿真,建立运行品质参数与整机关键性能指标之间的映射关系。根据传动系统及核心零部件静动态特性参数,分别建立减速器和伺服系统性能退化模型,并通过加速寿命试验对参数准确度进行评估。结果表明,减速器主要通过启动转矩、扭转刚度等5项参数,伺服系统主要通过伺服轴定位误差、跟随误差等7项参数反映对整机性能的影响。

In order to study the influence of precision reducer and servo motor as core components on the performance of the industrial robot,an electromechanical coupling analysis,testing and evaluation method based on servo-precision transmission system is proposed.Taking the permanent magnet synchronous motor as the research object,the vector control mathematical model of the servo system and the double closed-loop motor vector control algorithm model are established.The operating quality model of the servo drive system is simulated,and the mapping relationship between the operating quality parameters and the key performance indicators of the whole machine is established.According to the static and dynamic characteristic parameters of the transmission system and core components,the performance degradation models of the reducer and the servo system were established respectively,and the parameter accuracy was evaluated through the accelerated life test.The results show that the influence on the performance of the whole machine is mainly reflected by 5 parameters such as the starting torque and torsional stiffness of the reducer,and 7 parameters such as the positioning error of the servo axis of the servo system and the following error.