Key Technology of Motor Servo

Release time:

2023-10-26

Source:

Key Technology of Motor Servo
(1) Motor
① Lightweight
For robots, the size and weight of the motor are very sensitive. Through the research of high magnetic material optimization, integrated optimization design, processing and assembly process optimization, it is one of the key technologies of robot motor to improve the efficiency of servo motor, reduce the space size of motor and reduce the weight of motor.
② High speed
When the reduction ratio cannot be adjusted greatly, the maximum speed of the motor directly affects the end speed and working rhythm of the robot; and the speed ratio is too low to affect the inertia matching of the motor, so improving the maximum speed of the motor is also one of the key technologies of the robot motor.
③ Direct drive, hollow
With the continuous maturity and promotion of collaborative robots, the lightweight and compact requirements of robot structure are improved, and the development of high torque direct drive motors, disc hollow motors and other special motors for robots is also the future trend.
(2) Servo
① Fast response, precise positioning
The response time of the servo directly affects the fast start-stop effect of the robot, and affects the working efficiency and beat of the robot.
② Sensorless way to achieve elastic collision
Safety is an important indicator to measure the performance of robots. The addition of force or torque sensors will make the structure more complex and costly, and the sensorless elastic collision technology based on the current coupling relationship between the encoder and the motor can improve the safety of the robot to a certain extent without changing the body structure and increasing the cost of the body.
③ Drive all-in-one, drive and control all-in-one.
Drive all-in-one, multi-core CPU multi-axis drive control integration technology, improve system performance, reduce drive volume and cost.
④ Online adaptive chattering suppression
Industrial robot cantilever structure can easily cause jitter in multi-axis linkage, heavy load and fast start and stop. The stiffness of the robot body should match the stiffness parameters of the motor servo. If the stiffness is too high, it will cause vibration, and if the stiffness is too low, it will cause slow start-stop reaction. The stiffness of the robot is different in different positions and postures, as well as under different tooling loads, so it is difficult to meet the needs of all working conditions by setting the servo stiffness value in advance. On-line adaptive vibration suppression technology, the intelligent control strategy of parameter-free debugging is proposed, while taking into account the needs of stiffness matching and vibration suppression, which can suppress the jitter of the robot end and improve the accuracy of end positioning.