Calculation and model selection method for wrist motor and speed reducer of multi-degree-of-freedom robot
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A technology of reducer and robot, which is applied in computing, instrumentation, electrical and digital data processing, etc., and can solve the problems of heavy workload and low efficiency.
Active Publication Date: 2015-04-22
DALIAN UNIV OF TECH
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[0006] In order to overcome the shortcomings of calculating type selection parameters and querying mechanical product manuals, such as heavy wor...
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Embodiment 1
[0059] Example 1: Calculation and selection method when the motor and reducer series have been determined
[0060] (1) Establish motor and reducer sample database
[0061] Yaskawa Electric and Teijin reducer are used in this embodiment. Yaskawa Electric's series are: SGMAH, SGMPH, SGMGH (1500r / min), SGMGH (1000r / min), SGMSH, SGMDH, SGMCS (small capacity), SGMCS (medium capacity). The parameters include: model, rated output, rated torque, instantaneous maximum torque, maximum speed, rotor moment of inertia, load motor inertia ratio, etc. Teijin reducer series are: RV-E, RV-C. The parameters include: model, speed ratio, output torque, instantaneous maximum allowable torque, allowable maximum output speed, moment of inertia, etc.
[0062] (2) Primary selection of motor and reducer
[0063] The three design indicators of the wrist joint of a robot are: the maximum movement speed is 130° / s, the allowable moment of the wrist is 921N m, and the allowable moment of inertia of the ...
Embodiment 2
[0076] Example 2: Calculation method when the motor and reducer series are not determined
[0077] The three design indicators of the wrist joint of a robot are: the maximum movement speed is 130° / s, the allowable moment of the wrist is 921N m, and the allowable moment of inertia of the wrist is 78Kg m 2 . The power range factors are 1 and 2, and the gear reduction ratio is 2.8.
[0078] The output power Pe=2.09KW can be obtained from formula (1), then the rated output of the motor is between 2.09-4.18KW. If the motor speed is selected to be 2000r / min, the maximum reduction ratio i can be obtained by formula (7) MAX = 32.96. Take the motor rated torque T 电机额定 =28.4N·m, transmission efficiency η=0.8, load motor inertia ratio N 电机 =15, motor moment of inertia I 电机 =0.00675Kg·m 2 , then the minimum reduction ratio i can be obtained from formulas (8) and (9) MIN =20.68. Within this reduction ratio range, take the reduction ratio i=32.54. Then the maximum allowable torque...
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Abstract
The invention discloses a calculation and model selection method for a wrist motor and a speed reducer of a multi-degree-of-freedom robot and belongs to the field of the robot technology and application. According to the method, on the basis that a mechanical body of the robot is designed, parameters of the motor and the speed reducer are calculated and the model of the motor and the model of the speed reducer are selected according to the design indexes, namely, the maximum moving speed, the wrist permission moment and the wrist permission inertia of the robot under the situation that the series of the motor and the series of the speed reducer are determined; under the situation that the series of the motor and the series of the speed reducer are not required, only the parameters of the motor and the speed reducer are calculated. The calculation and model selection method for the wrist motor and the speed reducer is mainly used for calculation and model selection for the wrist motor and the speed reducer of the multi-degree-of-freedom robot, has the advantages of being wide in model selection range, fast in calculation, high in efficiency, accurate in model selection and the like, and overcomes the defects that in the process of calculating model selection parameters and inquiring a design manual, the calculated amount is large, and efficiency is low.
Description
technical field [0001] The invention belongs to the field of robot technology and application, and relates to a calculation and type selection method for a motor and a reducer of a robot wrist joint. The method is mainly aimed at the wrist joint of a multi-degree-of-freedom robot, so that the wrist The motor and reducer can meet the performance requirements. Background technique [0002] The application of robots is an important symbol of a country's industrial automation level. Robots have rapidly penetrated into many fields and showed a strong development trend, such as industry, agriculture, aerospace, marine and national defense. The application of robots is becoming more and more extensive, and the requirements for robot performance are getting higher and higher, and the performance of robots, such as positioning accuracy, speed and acceleration, etc., are closely related to the selection of motors and reducers. Selecting the motor and reducer that best meet the perfor...
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