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一、发展概况 本世纪六十年代,美国Unimation公司推出了世界上第一台工业机器人,从此以后,工业机器人在各个领域得到了广泛的应用。早期的机器人驱动,大都是通过减速机构与负载相耦合的。这种驱动方式存在许多弊病,如存在于减速机构的摩擦阻力妨碍了力和力矩的正确传输,导致可控性和效率下降,减速机构的弹性变形不仅使伺服机构的刚度下降,限制了系统的快速性,同时也是破坏系统的稳定性,引起系统响应出现振荡现象的主要因素。随着FA技术,FMS技术和机器人技术的发展,对电机驱动系统的性能要求越来越高,致使在许多场合下,传统的驱动方式已不能满足
First, the development of the situation In the 1960s, the United States Unimation introduced the world’s first industrial robot, since then, industrial robots in various fields has been widely used. Early robot-driven, mostly through the deceleration mechanism coupled with the load. There are many shortcomings in this driving method. For example, the frictional resistance existing in the speed-reducing mechanism hinders the correct transmission of the force and torque, resulting in the decrease of controllability and efficiency. The elastic deformation of the speed-reducing mechanism not only reduces the rigidity of the servo mechanism, Fast, but also to undermine the stability of the system, causing the system to respond to the main factors of oscillation phenomenon. With the development of FA technology, FMS technology and robotics, the performance requirements of the motor drive system are getting higher and higher, resulting in that in many occasions, the traditional driving method can not satisfy