Jixie chuandong (Sep 2022)
Study on Electromechanical Coupling Dynamic Characteristics of Robot Joint Servo Transmission System
Abstract
At present， the robot joint servo is developing towards miniaturization and integration. In view of the high operation accuracy requirements of intelligent robots， it is very necessary to study the dynamic characteristics of the typical motor driven gear electromechanical coupling system of robot joint servo under different working conditions. According to the time-varying meshing characteristics of multistage gear system and the dynamic characteristics of brushless motor， a dynamic model of multistage gear system and brushless motor is established， and an electromechanical coupling dynamic model of robot joint servo transmission system is established. Based on this model， the free torsional vibration characteristics and modal energy of the system are analyzed， and the dynamic response characteristics of the robot joint servo transmission system under steady-state and impact load conditions are further studied. The results show that there is an electromechanical coupling effect between the multistage gear system and the motor. After the system is impacted， the meshing force of the gear pair and the torsional vibration of the gear become violent and then tend to become stable.
