機(ji)(ji)器人(ren)電動伺服驅動體系是應用各類電動機(ji)(ji)發生的(de)力(li)矩(ju)和(he)力(li)，間接或直接天驅動機(ji)(ji)器人(ren)本體以取得(de)機(ji)(ji)器人(ren)的(de)各類運動的(de)執行機(ji)(ji)構。

對(dui)工(gong)業機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)器(qi)(qi)(qi)(qi)人(ren)(ren)(ren)(ren)樞(shu)紐驅(qu)(qu)(qu)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)的(de)(de)(de)(de)(de)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)，要求(qiu)有最大(da)(da)功率(lv)質量(liang)比(bi)跟(gen)(gen)(gen)扭(niu)(niu)矩(ju)慣量(liang)比(bi)、下(xia)(xia)(xia)起(qi)(qi)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)轉(zhuan)(zhuan)矩(ju)、低慣量(liang)跟(gen)(gen)(gen)較(jiao)廣闊(kuo)且滑潤的(de)(de)(de)(de)(de)調速(su)(su)(su)(su)(su)(su)(su)(su)(su)規(gui)模。特殊是像機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)器(qi)(qi)(qi)(qi)人(ren)(ren)(ren)(ren)末尾執(zhi)行器(qi)(qi)(qi)(qi)應采(cai)(cai)取(qu)(qu)體(ti)(ti)(ti)積、質量(liang)盡(jin)量(liang)小(xiao)(xiao)的(de)(de)(de)(de)(de)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)，特別是要求(qiu)快(kuai)捷(jie)(jie)相(xiang)應時(shi)，伺(si)(si)(si)(si)服(fu)(fu)(fu)(fu)(fu)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)必需存在(zai)較(jiao)下(xia)(xia)(xia)的(de)(de)(de)(de)(de)可靠性(xing)(xing)跟(gen)(gen)(gen)穩定性(xing)(xing)，而且存在(zai)較(jiao)大(da)(da)的(de)(de)(de)(de)(de)短時(shi)過載(zai)才能(neng)(neng)。這(zhe)是伺(si)(si)(si)(si)服(fu)(fu)(fu)(fu)(fu)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)正(zheng)在(zai)工(gong)業機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)器(qi)(qi)(qi)(qi)人(ren)(ren)(ren)(ren)中(zhong)(zhong)使用(yong)(yong)(yong)的(de)(de)(de)(de)(de)先決條(tiao)件。一、機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)器(qi)(qi)(qi)(qi)人(ren)(ren)(ren)(ren)對(dui)樞(shu)紐驅(qu)(qu)(qu)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)的(de)(de)(de)(de)(de)次(ci)(ci)要要求(qiu)規(gui)納以下(xia)(xia)(xia)1．快(kuai)速(su)(su)(su)(su)(su)(su)(su)(su)(su)性(xing)(xing)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)從取(qu)(qu)得指(zhi)令旌旗燈號到實現指(zhi)令所要求(qiu)的(de)(de)(de)(de)(de)事情形態的(de)(de)(de)(de)(de)工(gong)夫應短。相(xiang)應指(zhi)令旌旗燈號的(de)(de)(de)(de)(de)工(gong)夫愈短，電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)伺(si)(si)(si)(si)服(fu)(fu)(fu)(fu)(fu)系統的(de)(de)(de)(de)(de)靈敏性(xing)(xing)愈高，快(kuai)捷(jie)(jie)相(xiang)應機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)能(neng)(neng)愈好，普(pu)(pu)通是以伺(si)(si)(si)(si)服(fu)(fu)(fu)(fu)(fu)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)的(de)(de)(de)(de)(de)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)時(shi)間(jian)常數的(de)(de)(de)(de)(de)巨細(xi)去解釋伺(si)(si)(si)(si)服(fu)(fu)(fu)(fu)(fu)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)快(kuai)捷(jie)(jie)相(xiang)應的(de)(de)(de)(de)(de)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)能(neng)(neng)。2．起(qi)(qi)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)轉(zhuan)(zhuan)矩(ju)慣量(liang)比(bi)大(da)(da)正(zheng)在(zai)驅(qu)(qu)(qu)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)負載(zai)的(de)(de)(de)(de)(de)環境下(xia)(xia)(xia)，要求(qiu)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)器(qi)(qi)(qi)(qi)人(ren)(ren)(ren)(ren)的(de)(de)(de)(de)(de)伺(si)(si)(si)(si)服(fu)(fu)(fu)(fu)(fu)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)的(de)(de)(de)(de)(de)起(qi)(qi)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)轉(zhuan)(zhuan)矩(ju)年夜(ye)，轉(zhuan)(zhuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)慣量(liang)小(xiao)(xiao)。3．節制(zhi)特性(xing)(xing)的(de)(de)(de)(de)(de)連(lian)續(xu)性(xing)(xing)跟(gen)(gen)(gen)直線性(xing)(xing)，跟(gen)(gen)(gen)著節制(zhi)旌旗燈號的(de)(de)(de)(de)(de)變更，電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)的(de)(de)(de)(de)(de)轉(zhuan)(zhuan)速(su)(su)(su)(su)(su)(su)(su)(su)(su)能(neng)(neng)接連(lian)變更，有時(shi)借需轉(zhuan)(zhuan)速(su)(su)(su)(su)(su)(su)(su)(su)(su)與(yu)節制(zhi)旌旗燈號成(cheng)(cheng)正(zheng)比(bi)或近似(si)成(cheng)(cheng)正(zheng)比(bi)。4．調速(su)(su)(su)(su)(su)(su)(su)(su)(su)規(gui)模寬。能(neng)(neng)利(li)用(yong)(yong)(yong)于1：1000～10000的(de)(de)(de)(de)(de)調速(su)(su)(su)(su)(su)(su)(su)(su)(su)規(gui)模。5．體(ti)(ti)(ti)積小(xiao)(xiao)、質量(liang)小(xiao)(xiao)、軸向(xiang)尺(chi)寸短。6．能(neng)(neng)禁受得起(qi)(qi)苛刻(ke)的(de)(de)(de)(de)(de)運轉(zhuan)(zhuan)前提(ti)，可停止非常頻仍的(de)(de)(de)(de)(de)正(zheng)反(fan)向(xiang)跟(gen)(gen)(gen)減(jian)(jian)(jian)減(jian)(jian)(jian)速(su)(su)(su)(su)(su)(su)(su)(su)(su)運轉(zhuan)(zhuan)，并能(neng)(neng)正(zheng)在(zai)短時(shi)間(jian)內蒙受過載(zai)。現階段，因(yin)為(wei)(wei)(wei)(wei)下(xia)(xia)(xia)起(qi)(qi)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)轉(zhuan)(zhuan)矩(ju)、年夜(ye)轉(zhuan)(zhuan)矩(ju)、低慣量(liang)的(de)(de)(de)(de)(de)交(jiao)、直流(liu)伺(si)(si)(si)(si)服(fu)(fu)(fu)(fu)(fu)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)正(zheng)在(zai)工(gong)業機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)器(qi)(qi)(qi)(qi)人(ren)(ren)(ren)(ren)中(zhong)(zhong)失掉(diao)廣泛(fan)應用(yong)(yong)(yong)，普(pu)(pu)通負載(zai)1000N以下(xia)(xia)(xia)的(de)(de)(de)(de)(de)工(gong)業機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)器(qi)(qi)(qi)(qi)人(ren)(ren)(ren)(ren)大(da)(da)多采(cai)(cai)取(qu)(qu)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)伺(si)(si)(si)(si)服(fu)(fu)(fu)(fu)(fu)驅(qu)(qu)(qu)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)體(ti)(ti)(ti)系。所采(cai)(cai)取(qu)(qu)的(de)(de)(de)(de)(de)樞(shu)紐驅(qu)(qu)(qu)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)次(ci)(ci)要是AC伺(si)(si)(si)(si)服(fu)(fu)(fu)(fu)(fu)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)，步(bu)進電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)跟(gen)(gen)(gen)DC伺(si)(si)(si)(si)服(fu)(fu)(fu)(fu)(fu)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)。此中(zhong)(zhong)，交(jiao)換(huan)伺(si)(si)(si)(si)服(fu)(fu)(fu)(fu)(fu)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)、直流(liu)伺(si)(si)(si)(si)服(fu)(fu)(fu)(fu)(fu)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)、間(jian)接驅(qu)(qu)(qu)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)均采(cai)(cai)取(qu)(qu)地(di)位(wei)閉(bi)環控制(zhi)，普(pu)(pu)通使用(yong)(yong)(yong)于高精度、高速(su)(su)(su)(su)(su)(su)(su)(su)(su)度的(de)(de)(de)(de)(de)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)器(qi)(qi)(qi)(qi)人(ren)(ren)(ren)(ren)驅(qu)(qu)(qu)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)體(ti)(ti)(ti)系中(zhong)(zhong)。步(bu)進電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)驅(qu)(qu)(qu)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)體(ti)(ti)(ti)系多合(he)用(yong)(yong)(yong)于對(dui)精度、速(su)(su)(su)(su)(su)(su)(su)(su)(su)率(lv)要求(qiu)不高的(de)(de)(de)(de)(de)小(xiao)(xiao)型簡略單純機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)器(qi)(qi)(qi)(qi)人(ren)(ren)(ren)(ren)開環體(ti)(ti)(ti)系中(zhong)(zhong)。交(jiao)換(huan)伺(si)(si)(si)(si)服(fu)(fu)(fu)(fu)(fu)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)因(yin)為(wei)(wei)(wei)(wei)采(cai)(cai)取(qu)(qu)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)子換(huan)向(xiang)，無換(huan)向(xiang)火花(hua)，正(zheng)在(zai)易燃易爆情況中(zhong)(zhong)失掉(diao)了普(pu)(pu)遍的(de)(de)(de)(de)(de)利(li)用(yong)(yong)(yong)。機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)器(qi)(qi)(qi)(qi)人(ren)(ren)(ren)(ren)樞(shu)紐驅(qu)(qu)(qu)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)的(de)(de)(de)(de)(de)功率(lv)規(gui)模普(pu)(pu)通為(wei)(wei)(wei)(wei)0.1～10kW。工(gong)業機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)器(qi)(qi)(qi)(qi)人(ren)(ren)(ren)(ren)驅(qu)(qu)(qu)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)體(ti)(ti)(ti)系中(zhong)(zhong)所采(cai)(cai)取(qu)(qu)的(de)(de)(de)(de)(de)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)。兩、機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)大(da)(da)抵可細(xi)分為(wei)(wei)(wei)(wei)以下(xia)(xia)(xia)幾(ji)種：1．交(jiao)換(huan)伺(si)(si)(si)(si)服(fu)(fu)(fu)(fu)(fu)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)包羅(luo)(luo)(luo)同(tong)步(bu)型交(jiao)換(huan)伺(si)(si)(si)(si)服(fu)(fu)(fu)(fu)(fu)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)及反(fan)應式步(bu)進電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)等(deng)。2．直流(liu)伺(si)(si)(si)(si)服(fu)(fu)(fu)(fu)(fu)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)包羅(luo)(luo)(luo)小(xiao)(xiao)慣量(liang)永磁(ci)直流(liu)伺(si)(si)(si)(si)服(fu)(fu)(fu)(fu)(fu)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)、印制(zhi)繞組(zu)直流(liu)伺(si)(si)(si)(si)服(fu)(fu)(fu)(fu)(fu)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)、年夜(ye)慣量(liang)永磁(ci)直流(liu)伺(si)(si)(si)(si)服(fu)(fu)(fu)(fu)(fu)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)、空心杯電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)樞(shu)直流(liu)伺(si)(si)(si)(si)服(fu)(fu)(fu)(fu)(fu)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)。3．步(bu)進電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)包羅(luo)(luo)(luo)永磁(ci)感應步(bu)進電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)。速(su)(su)(su)(su)(su)(su)(su)(su)(su)率(lv)傳(chuan)感器(qi)(qi)(qi)(qi)多采(cai)(cai)取(qu)(qu)測速(su)(su)(su)(su)(su)(su)(su)(su)(su)發電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)跟(gen)(gen)(gen)扭(niu)(niu)轉(zhuan)(zhuan)變壓器(qi)(qi)(qi)(qi)；地(di)位(wei)傳(chuan)感器(qi)(qi)(qi)(qi)多用(yong)(yong)(yong)光(guang)(guang)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)碼盤跟(gen)(gen)(gen)扭(niu)(niu)轉(zhuan)(zhuan)變壓器(qi)(qi)(qi)(qi)。近年來(lai)，外洋機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)器(qi)(qi)(qi)(qi)人(ren)(ren)(ren)(ren)制(zhi)造廠家曾經正(zheng)在(zai)利(li)用(yong)(yong)(yong)一種散光(guang)(guang)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)碼盤及扭(niu)(niu)轉(zhuan)(zhuan)變壓器(qi)(qi)(qi)(qi)功用(yong)(yong)(yong)為(wei)(wei)(wei)(wei)一體(ti)(ti)(ti)的(de)(de)(de)(de)(de)混(hun)合(he)式光(guang)(guang)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)地(di)位(wei)傳(chuan)感器(qi)(qi)(qi)(qi)，伺(si)(si)(si)(si)服(fu)(fu)(fu)(fu)(fu)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)可與(yu)地(di)位(wei)及速(su)(su)(su)(su)(su)(su)(su)(su)(su)率(lv)檢測器(qi)(qi)(qi)(qi)、制(zhi)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)器(qi)(qi)(qi)(qi)、減(jian)(jian)(jian)速(su)(su)(su)(su)(su)(su)(su)(su)(su)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)構(gou)構(gou)成(cheng)(cheng)伺(si)(si)(si)(si)服(fu)(fu)(fu)(fu)(fu)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)驅(qu)(qu)(qu)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)單位(wei)。機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)器(qi)(qi)(qi)(qi)人(ren)(ren)(ren)(ren)驅(qu)(qu)(qu)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)體(ti)(ti)(ti)系要求(qiu)傳(chuan)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)系統空隙(xi)小(xiao)(xiao)、剛度年夜(ye)、輸出(chu)扭(niu)(niu)矩(ju)下(xia)(xia)(xia)和減(jian)(jian)(jian)速(su)(su)(su)(su)(su)(su)(su)(su)(su)比(bi)年夜(ye)。三、常用(yong)(yong)(yong)的(de)(de)(de)(de)(de)減(jian)(jian)(jian)速(su)(su)(su)(su)(su)(su)(su)(su)(su)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)構(gou)1．RV減(jian)(jian)(jian)速(su)(su)(su)(su)(su)(su)(su)(su)(su)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)構(gou)；2．諧波減(jian)(jian)(jian)速(su)(su)(su)(su)(su)(su)(su)(su)(su)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)器(qi)(qi)(qi)(qi)；3．擺線針輪減(jian)(jian)(jian)速(su)(su)(su)(su)(su)(su)(su)(su)(su)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)構(gou)；4．行星(xing)齒輪減(jian)(jian)(jian)速(su)(su)(su)(su)(su)(su)(su)(su)(su)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)器(qi)(qi)(qi)(qi)；5．無側隙(xi)減(jian)(jian)(jian)速(su)(su)(su)(su)(su)(su)(su)(su)(su)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)構(gou)；6．蝸輪減(jian)(jian)(jian)速(su)(su)(su)(su)(su)(su)(su)(su)(su)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)構(gou)；7．滾珠絲杠機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)構(gou)；8．金屬帶／齒形減(jian)(jian)(jian)速(su)(su)(su)(su)(su)(su)(su)(su)(su)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)構(gou)；9．球減(jian)(jian)(jian)速(su)(su)(su)(su)(su)(su)(su)(su)(su)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)構(gou)。工(gong)業機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)器(qi)(qi)(qi)(qi)人(ren)(ren)(ren)(ren)電(dian)(dian)(dian)(dian)(dian)(dian)(dian)(dian)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)機(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)(ji)驅(qu)(qu)(qu)動(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)(dong)原理如圖1所示(shi)。

工(gong)業機器人(ren)電動(dong)(dong)伺服系統的(de)普(pu)通布局為三個閉環(huan)(huan)控制，即電流環(huan)(huan)、速(su)率(lv)(lv)(lv)環(huan)(huan)跟地(di)位(wei)(wei)環(huan)(huan)。現階段(duan)外洋許多電動(dong)(dong)機生產廠家(jia)均開辟(pi)出(chu)與(yu)交換伺服電動(dong)(dong)機相適配(pei)的(de)驅動(dong)(dong)產物，用戶依據本人(ren)所(suo)需功(gong)用側重分(fen)歧而取(qu)舍分(fen)歧的(de)伺服節(jie)制方(fang)法(fa)，普(pu)通環(huan)(huan)境(jing)下(xia)，交換伺服驅動(dong)(dong)器，可(ke)經由過(guo)程對其外部(bu)功(gong)用參(can)數(shu)停止人(ren)工(gong)設定而實現以(yi)下(xia)功(gong)用：1．地(di)位(wei)(wei)節(jie)制方(fang)法(fa)；2．速(su)率(lv)(lv)(lv)節(jie)制方(fang)法(fa)；3．轉矩(ju)節(jie)制方(fang)法(fa)；4．地(di)位(wei)(wei)、速(su)率(lv)(lv)(lv)混(hun)淆方(fang)法(fa)；5．地(di)位(wei)(wei)、轉矩(ju)混(hun)淆方(fang)法(fa)；6．速(su)率(lv)(lv)(lv)、轉矩(ju)混(hun)淆方(fang)法(fa)；7．轉矩(ju)限定；8．地(di)位(wei)(wei)誤差過(guo)大報警；9．速(su)率(lv)(lv)(lv)PID參(can)數(shu)設置(zhi)；10．速(su)率(lv)(lv)(lv)及加速(su)度(du)前饋參(can)數(shu)設置(zhi)；11．零漂賠償參(can)數(shu)設置(zhi)；12．減減速(su)時間設置(zhi)等。

四、驅動器品種

1．直流伺服(fu)電(dian)動(dong)機驅動(dong)器

直流伺服(fu)電動機驅動器多采取脈寬(kuan)調制伺服(fu)驅動器，經由(you)過程轉(zhuan)變(bian)(bian)脈沖(chong)寬(kuan)度去轉(zhuan)變(bian)(bian)減正(zheng)在電動機電樞兩(liang)頭的均勻電壓，從而(er)轉(zhuan)變(bian)(bian)電動機的轉(zhuan)速。

PWM伺服驅(qu)動(dong)器存在調速規模寬(kuan)、低(di)速特性好、相(xiang)應快、效(xiao)率高、過載才能強(qiang)等(deng)特色，正在工業機(ji)器人中常作為直流伺服電動(dong)機(ji)驅(qu)動(dong)器。

2．同步(bu)式交換伺服電動(dong)機(ji)驅(qu)動(dong)器

同(tong)直流伺(si)服電(dian)動機(ji)驅(qu)動體系比(bi)擬，同(tong)步式交換(huan)伺(si)服電(dian)動機(ji)驅(qu)動器存在(zai)轉矩轉動慣量比(bi)高、無電(dian)刷及換(huan)向火花等優(you)點，正在(zai)工業機(ji)器人中失掉廣泛應用。

同步式交(jiao)換伺服(fu)電(dian)動(dong)(dong)機(ji)驅(qu)(qu)動(dong)(dong)器(qi)平常采取電(dian)流型(xing)脈寬(kuan)調制(zhi)(zhi)相逆變器(qi)跟存在電(dian)流環(huan)(huan)為(wei)內(nei)環(huan)(huan)、速(su)率(lv)環(huan)(huan)為(wei)外環(huan)(huan)的多閉環(huan)(huan)控制(zhi)(zhi)體系，以實現(xian)對三相永磁(ci)同步伺服(fu)電(dian)動(dong)(dong)機(ji)的電(dian)流節(jie)制(zhi)(zhi)。依據其(qi)事情原理(li)、驅(qu)(qu)動(dong)(dong)電(dian)流波形跟節(jie)制(zhi)(zhi)方法的分歧(qi)，它又可分為(wei)兩種伺服(fu)系統：

矩形波電流驅動的永磁交換伺服系統(tong)。

正(zheng)弦波電流(liu)驅動的永磁交換伺服系統。

采取(qu)矩形波電(dian)流(liu)(liu)驅動的(de)永(yong)磁交(jiao)換(huan)伺(si)服(fu)電(dian)動機(ji)稱為無(wu)刷直流(liu)(liu)伺(si)服(fu)電(dian)動機(ji)，采取(qu)正(zheng)弦(xian)波電(dian)流(liu)(liu)驅動的(de)永(yong)磁交(jiao)換(huan)伺(si)服(fu)電(dian)動機(ji)稱為無(wu)刷交(jiao)換(huan)伺(si)服(fu)電(dian)動機(ji)。

3．步進電(dian)動機驅動器

步進(jin)電動(dong)機是將(jiang)電脈(mo)(mo)(mo)沖(chong)旌旗燈號變(bian)更為響應的(de)(de)角(jiao)(jiao)位(wei)移(yi)或(huo)直線位(wei)移(yi)的(de)(de)元件，它的(de)(de)角(jiao)(jiao)位(wei)移(yi)跟線位(wei)移(yi)量與脈(mo)(mo)(mo)沖(chong)數成(cheng)正(zheng)(zheng)(zheng)比。轉(zhuan)速或(huo)線速度與脈(mo)(mo)(mo)沖(chong)頻次成(cheng)正(zheng)(zheng)(zheng)比。正(zheng)(zheng)(zheng)在(zai)負(fu)載才能(neng)的(de)(de)規模(mo)(mo)內(nei)，這些關聯沒(mei)(mei)有(you)果(guo)電源電壓、負(fu)載巨(ju)細、情況前提的(de)(de)顛簸而(er)變(bian)更，偏(pian)差(cha)沒(mei)(mei)有(you)長時間堆集，步進(jin)電動(dong)機驅動(dong)體系(xi)可以正(zheng)(zheng)(zheng)在(zai)較(jiao)寬的(de)(de)規模(mo)(mo)內(nei)，經(jing)由過程轉(zhuan)變(bian)脈(mo)(mo)(mo)沖(chong)頻次去調(diao)速，實現快捷起(qi)動(dong)、正(zheng)(zheng)(zheng)反轉(zhuan)制動(dong)。作(zuo)為一(yi)種開環數字控制系(xi)統，正(zheng)(zheng)(zheng)在(zai)小型機器(qi)人中失掉較(jiao)普(pu)(pu)遍的(de)(de)使用(yong)。但因為其存在(zai)過載能(neng)力差(cha)、調(diao)速規模(mo)(mo)絕對較(jiao)小、低速運(yun)動(dong)有(you)脈(mo)(mo)(mo)動(dong)、沒(mei)(mei)有(you)均(jun)衡等缺陷，普(pu)(pu)通只(zhi)使用(yong)于小型或(huo)簡易型機器(qi)人中。

步進(jin)電動機所用的驅動器(qi)(qi)，次要包羅脈沖發(fa)生器(qi)(qi)、環形分(fen)配器(qi)(qi)跟(gen)功(gong)率放大等多少大部分(fen)，其原(yuan)理框(kuang)圖(tu)如圖(tu)2所示。

4．間接驅動

所(suo)謂間接驅(qu)動(dong)(dong)體系，就是(shi)電動(dong)(dong)機與其所(suo)驅(qu)動(dong)(dong)的負載間接耦合正在一路，中(zhong)央沒有(you)存(cun)在任何減速機構。

同(tong)傳(chuan)統的(de)(de)電動(dong)機(ji)伺服驅(qu)動(dong)比擬，DD驅(qu)動(dong)削(xue)減(jian)了(le)減(jian)速(su)機(ji)構(gou)，從而削(xue)減(jian)了(le)體系傳(chuan)動(dong)進程中(zhong)減(jian)速(su)機(ji)構(gou)所(suo)發生的(de)(de)空隙跟松動(dong)，極大地(di)提高(gao)(gao)了(le)機(ji)器(qi)(qi)(qi)人的(de)(de)精度(du)，同(tong)時也削(xue)減(jian)了(le)因(yin)為(wei)(wei)減(jian)速(su)機(ji)構(gou)的(de)(de)摩擦及傳(chuan)遞(di)轉矩脈動(dong)所(suo)形(xing)成的(de)(de)機(ji)器(qi)(qi)(qi)人控制精度(du)降低。而DD驅(qu)動(dong)因(yin)為(wei)(wei)存在(zai)上述優(you)點，以是(shi)機(ji)器(qi)(qi)(qi)剛性好，可以高(gao)(gao)速(su)高(gao)(gao)精度(du)舉措，且存在(zai)部件(jian)少(shao)、布局簡(jian)略、簡(jian)單(dan)維修、可靠性初等特(te)色，正在(zai)高(gao)(gao)精度(du)、高(gao)(gao)速(su)工業機(ji)器(qi)(qi)(qi)人使用中(zhong)愈來愈惹起(qi)人們(men)的(de)(de)正視。

作為(wei)DD驅(qu)動(dong)技巧(qiao)的關鍵環節(jie)是DD電動(dong)機及(ji)其驅(qu)動(dong)器。它應存(cun)在(zai)以下(xia)特性(xing)：

輸出轉矩年夜：為傳統驅動方法中(zhong)伺服電動機輸出轉矩的50～100倍。

轉矩脈(mo)動小：DD電動機(ji)的轉矩脈(mo)動可(ke)抑制正在輸出轉矩的5％～10％之內。

服從：與(yu)采取公道阻抗(kang)匹配的電動(dong)機比擬，DD電動(dong)機是正在功率轉換較差(cha)的利(li)用(yong)前提下(xia)事情的。是以(yi)，負載越(yue)大，越(yue)偏(pian)向于選用(yong)較大的電動(dong)機。

現階段，DD電動機次(ci)要(yao)分為變磁阻型跟變磁阻混合型，有以下兩種布局型式：

單(dan)定子布局變磁阻(zu)型DD電動機；

中心定(ding)子型布局的變(bian)磁(ci)阻混合型DD電動機(ji)。

5．特種驅動器

壓電驅動器。

眾所周(zhou)知，應用壓電(dian)元(yuan)件的(de)電(dian)或電(dian)致伸縮景象(xiang)已制造(zao)出應變式加速(su)度傳(chuan)感器跟超聲波傳(chuan)感器，壓電(dian)驅動器應用電(dian)場(chang)能把(ba)幾微米到幾百(bai)微米的(de)位移節制正在(zai)高于微米級(ji)年(nian)夜的(de)力，以是壓電(dian)驅動器普(pu)通用于特別(bie)用途的(de)微型機器人體系(xi)中。

超聲波電動機。

真空電動機。

用于超干凈情況下事情的真空機器人(ren)，例如用于搬運半導(dao)體硅片(pian)的超真空機器人(ren)等。

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