Design And Development Of Joint Motor For Electric Quadruped Robot

The electric-driven legged robot has low noise and fast dynamic response,which can be applied to a wider range of application scenarios.,has become one of the hotspots in the field of robotics.In recent years,prototypes or products of small-size,light-load,and high-mobility electric quadruped robots have emerged one after another.However,largesize,heavy-duty quadruped robots use hydraulic pressure as the drive component,and the electric drive prototype is still blank.The main constraint is the current available electric actuator torque density is insufficient.It is a hot and difficult point in the research of quadruped robots to make the output capacity of electric drive joints and hydraulic drive joints comparable.In this thesis,the design and development of electric joints are carried out in response to the drive requirements of the electric large-size quadruped robot prototype.The main research work of the thesis is as follows:Perform simulation analysis on the joint torque,speed,power and other performance requirements of the large-size quadruped robot under the motion and load conditions.Based on this,the integration of "high torque motor + small speed ratio reducer" to drive the joint is determined.Based on the design plan,and based on the principle of inertia matching,the drive joint reduction ratio and motor index requirements were determined,and the initial design plan of the motor was formulated.The high saturation magnetic density characteristics of the 1J22 soft magnetic alloy material and the Halbach magnetic pole array magnetization characteristics were used to improve the torque output performance of the motor,and the initial motor was formulated.Construct a parameterized size model of the motor,analyze the influence of dimensional parameters such as aspect ratio,split ratio,slot opening,pole arc coefficient,etc.on the motor torque,moment of inertia and torque fluctuation,and determine the final result by scanning the parameters of the finite element software Size scheme.Analyze the loss distribution of the joint motor and construct the motor thermal network model.The temperature rise of the motor under different load conditions is analyzed.Based on the analysis of the factors affecting the heat dissipation performance,the high thermal conductivity in the stator slot of the external rotor joint motor is proposed A heat dissipation scheme that combines potting and forced air cooling at the shaft end.The basic electromagnetic parameters and performance indicators of the joint motor prototype are experimentally analyzed to verify the rationality of the design,analyze the reasons for the experimental deviation,and provide a reference for further improving the motor performance.