Research On The Joints Of High-precision Miniature Robot

The development of a robot system with intelligent recognition,repair and polishing functions will become the main trend in blade processing and repair in the future,and high-precision and miniaturized robot joints are the basis and key to high-precision repair of the robot system.At present,high-precision robot joints rely on foreign high-precision reducers,and high-resolution magnetic encoders cannot be applied to robot joints with large hollow shafts.In order to solve the above problems,for the dual-motor anti-backlash scheme,this paper has carried out the research of the high-precision miniaturized robot joint scheme.The research work of this paper can be divided into the following points:Aiming at the dual-motor scheme,a miniaturized and high-torque robot joint mechanism was designed to meet the subject index requirements.According to the requirements of the subject,a suitable dual-motor layout scheme was selected,and the involute low-tooth difference reducer was miniaturized to make it meet the required reduction ratio and size,and the main structural parts were mechanically analyzed.Based on this size,design a permanent magnet synchronous motor,select the number of slot poles with a suitable ratio,conduct a magnetic field analysis on the size of the air gap of the motor and the thickness of the shoe teeth and other important structures,and combine the analysis results to optimize iterative design,So that it has a greater power density to meet the output requirements.The analysis and design of the main control system and the high-speed control of the permanent magnet synchronous motor provide a basis for high-frequency control.Determine the indicators of the main control system in combination with the control functions that need to be realized,and perform functional analysis.Then,Kirchhoff’s law is used to simplify the most time-consuming current loop vector control equation and the control algorithm to achieve high-speed control procedures.Finally,the power module,control module,communication module,etc.of the main control system are analyzed and designed to ensure the reliable operation of the servo motor,which provides a basis for realizing high-frequency control of the motor.The analysis and design of the magnetoelectric encoder and the design of the decoding algorithm of the double multi-pole magnetoelectric encoder have realized the automatic division of the multi-pole interval and the decoding of the absolute angle.Determine the various indicators of the encoder in combination with the required measurement functions,and perform functional analysis.Then,it analyzes the characteristics of the dual-multipole magnetoelectric encoder,establishes its mathematical model,and proposes a new decoding algorithm,performs error analysis and failure discriminant and performs simulation verification.Finally,the number of magnetic pole pairs of the verification system is designed,and the layout of the linear Hall is determined according to the magnetic field analysis,and the hardware circuit of the verification system is designed and planned.The principle verification test platform of the joint system was built and the principle verification was carried out.Carry out the prototype verification test of the combined encoder to verify the principle and decoding algorithm of the combined magnetoelectric encoder;carry out the debugging test of the verification system to verify the control effect and high-speed effect of the control algorithm.