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文章针对月球表面采样任务对机械臂关节防尘、耐高低温和轻量化的特殊要求,提出一种由永磁同步电机驱动、2K-H行星减速器+谐波减速器传动的关节设计方案。该方案采用电机的齿槽转矩提供关节制动力矩,并采用前馈力矩补偿控制的方法消除齿槽转矩引起的速度波动,节省了制动器的配置;通过控制减速器传动侧隙、电机定子与壳体的过盈量及密封垫片厚度,实现关节在-100~160℃高低温环境的热匹配和防尘。仿真分析和样机试验结果验证了关节设计方案可满足月表采样的月面特殊环境要求。
Aimed at the special requirements of the robotic arm for dust proofing, high and low temperature resistance and light weight, aiming at the lunar surface sampling task, a joint design scheme driven by a permanent magnet synchronous motor and a 2K-H planetary reducer + harmonic reducer was proposed. The scheme uses the cogging torque of the motor to provide the joint braking torque and uses the feedforward torque compensation control method to eliminate the speed fluctuation caused by the cogging torque and saves the configuration of the brake. By controlling the reduction gear drive backlash, the motor stator And the shell of the interference and the thickness of the gasket to achieve joint in -100 ~ 160 ℃ high temperature and low temperature environment, heat and dust. The simulation analysis and the prototype test results verify that the joint design scheme can meet the lunar surface special environmental requirements for lunar surface sampling.