服务机器人小型关节综合性能测试机

石照耀; 程慧明; 朱逸文; 张攀; 张临涛; 丁宏钰

doi:10.3788/OPE.20202808.1707

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服务机器人小型关节综合性能测试机

微纳技术与精密机械 | 更新时间：2020-08-14

- 服务机器人小型关节综合性能测试机
- Testing machine for small-size electro-mechanical actuator used in robots
- 光学精密工程 2020年28卷第8期页码：1707-1714
- 作者机构：
  
  北京工业大学机械工程与应用电子技术学院, 北京 100124
- 作者简介：
  
  [ "石照耀(1964-), 男, 湖南岳阳人, 博士, 教育部长江学者特聘教授, 博士生导师, 1984年、2001年于合肥工业大学分别获得学士、博士学位, 主要从事齿轮工程及精密测试技术与仪器的研究。E-mail:shizhaoyao@bjut.edu.cn" ]
  [ "程慧明(1994-), 男, 安徽安庆人, 硕士研究生, 2016年于华东交通大学获得学士学位, 主要从事精密测试技术与仪器的研究。E-mail:chenghuiming295@126.com" ]
- 基金信息：
  
  北京市教委-北京市基金联合资助项目(KZ201910005005)
- DOI：10.3788/OPE.20202808.1707
  中图分类号： TH71
- 收稿日期：2020-01-08，
  
  修回日期：2020-02-25，
  
  录用日期：2020-2-25，
  
  纸质出版日期：2020-08-25
- 稿件说明：
移动端阅览
石照耀, 程慧明, 朱逸文, 等. 服务机器人小型关节综合性能测试机[J]. 光学精密工程, 2020,28(8):1707-1714.

Zhao-yao SHI, Hui-ming CHENG, Yi-wen ZHU, et al. Testing machine for small-size electro-mechanical actuator used in robots[J]. Optics and precision engineering, 2020, 28(8): 1707-1714.
石照耀, 程慧明, 朱逸文, 等. 服务机器人小型关节综合性能测试机[J]. 光学精密工程, 2020,28(8):1707-1714. DOI： 10.3788/OPE.20202808.1707.

Zhao-yao SHI, Hui-ming CHENG, Yi-wen ZHU, et al. Testing machine for small-size electro-mechanical actuator used in robots[J]. Optics and precision engineering, 2020, 28(8): 1707-1714. DOI： 10.3788/OPE.20202808.1707.

摘要

为了解决服务机器人小型关节整机性能测量手段缺乏以及测量项目单一的问题，根据小型关节的特点研制了服务机器人小型关节综合性能测试机，实现了对小型关节传动精度、电参数和机械特性的测量。测试机由精密机械系统、测控硬件系统和测控软件系统组成。测试机主机采用卧式结构，设计了专用夹具，在保证测量精度的同时满足了不同型号关节的测量要求；开发的测试软件不仅能满足小型关节多个性能指标的综合测量，还能对测量进行分析。实际测试结果表明，测试机运行稳定，精度符合设计要求，重复性测量偏差小于3%，覆盖小型关节型号范围广，能实现自动化精密测量。测试机的研制为建立面向服务机器人小型关节的全局质量评价体系提供了手段。

Abstract

An electromechanical actuator (EMA) is the main component for the attitude control of robotic systems. This study focuses on solving the problems of a robot's incapability in measuring small-size EMAs

inability to reflect the machine performance comprehensively

and single measurement item. According to the characteristics of small-size EMAs

a testing machine for the comprehensive performance test was developed to measure the transmission accuracy

electric parameters

and mechanical characteristic of small-size EMAs. The testing machine mainly comprises a precision mechanical system

control hardware system

and measurement and testing software. The testing machine adopts a horizontal structure. A special fixture is designed to satisfy the measurement requirements of different types of EMAs while ensuring the accuracy of the measurement system. The developed test software not only satisfies the comprehensive measurement of multiple performance indicators of small-size EMAs

but can also analyze the measured results. Test results show that the measuring machine operated stably

with a repeatable measurement deviation of less than 3%

thereby encompassing a wide range of small-size EMAs. The precision conforms to the design requirements

and the testing machine can yield automatic precision measurements. The development of the testing machine facilitates the establishment of an overall quality evaluation system for small-size EMAs.

关键词

Keywords

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