高扭矩密度仿人机器人驱动单元研究

doi:10.3901/JME.2022.18.192

机械工程学报 ›› 2022, Vol. 58 ›› Issue (18): 192-204.doi: 10.3901/JME.2022.18.192

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高扭矩密度仿人机器人驱动单元研究

李慧莱^1,2, 凌振飞^1,2, 王泽正^1,2, 孙茂文^1,2, 刘浩^1,3, 欧阳小平^1,2, 李斌斌⁴

1. 浙江大学机械工程学院杭州 310027;
2. 浙江大学流体动力与机电系统国家重点实验室杭州 310027;
3. 浙江大学先进技术研究院杭州 310027;
4. 乾元科学研究院杭州 310008

收稿日期:2022-03-01 修回日期:2022-07-10 出版日期:2022-09-20 发布日期:2022-12-08
通讯作者: 欧阳小平(通信作者)，男，1974年出生，博士，教授，博士研究生导师。主要研究方向为飞机液压、外骨骼机器人、仿人机器人。E-mail：ouyangxp@zju.edu.cn
作者简介:李慧莱,男,1998年出生,博士研究生。主要研究方向为仿人机器人;E-mail:12025010@zju.edu.cn
基金资助:
国家重点研发计划(2018YFB1305402)、国家自然科学基金(51890883)、流体动力与机电系统国家重点实验室自主课题(SKLoFP_ZZ_2016)和1912资助项目。

Research on High Torque Density Drive Unit for Humanoid Robots

LI Huilai^1,2, LING Zhenfei^1,2, WANG Zezheng^1,2, SUN Maowen^1,2, LIU Hao^1,3, OUYANG Xiaoping^1,2, LI Binbin⁴

1. School of Mechanical Engineering, Zhejiang University, Hangzhou 310027;
2. State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027;
3. Institute of Advanced Technology, Zhejiang University, Hangzhou 310027;
4. Institute of Science, Qianyuan, Hangzhou 310008

Received:2022-03-01 Revised:2022-07-10 Online:2022-09-20 Published:2022-12-08

摘要/Abstract

摘要： 驱动单元是协作型仿人机器人的核心部件之一。研制出一种用于大负载仿人机械臂的小体积、高扭矩密度、高动态性能和抗倾覆的驱动单元。通过合理的槽极匹配结合径向长度和轴向厚度等电机机械结构参数的优化，设计出一种高径长比外转子永磁同步电机。通过分析驱动单元减速器部件的受力形式设计了抗倾覆两级行星减速器。建立驱动单元的动力学模型，对驱动单元样机进行集成研制。基于实际试验台对驱动单元样机进行系统辨识和负载特性测试，验证了所研制的驱动单元满足仿人机械臂的应用需求。汇演结果表明，所设计的驱动单元具有体积小、扭矩密度高和动态性能好等优点，外形尺寸降至88.5 mm×35 mm，额定扭矩密度高达35.97 N«m/kg，空载工况下闭环控制带宽达到47.6 Hz。

关键词: 驱动单元, 仿人机器人, 扭矩密度, 抗倾覆, 电机, 减速器

Abstract: The drive unit is one of the core components of collaborative humanoid robots. A small volume, high torque density, high dynamic performance, and anti-overturning drive unit is developed for the large-load humanoid robotic arm. A high diameter-length ratio outer rotor permanent magnet synchronous motor is designed through good slot-pole matching and optimization of mechanical parameters such as radial length and axial thickness. An anti-overturning two-stage planetary reducer is designed by analyzing the forces acting on the drive unit components. The dynamic model of the drive unit is established, and the drive unit prototype is integrated and developed. Based on the actual test bench, the system identification and load characteristic test of the drive unit prototype are carried out, and it is verified that the designed drive unit meets the application requirements of the humanoid robotic arm. The experimental results show that the designed drive unit has the advantages of small size, high torque density, and good dynamic performance. The overall size is reduced to 88.5 mm × 35 mm, the torque density is as high as 35.97 N«m/kg under the rated load condition, and the closed-loop control bandwidth under the no-load condition is up to 47.6 Hz.

Key words: drive unit, humanoid robot, torque density, anti-overturning, motor, reducer

中图分类号:

TG156

李慧莱, 凌振飞, 王泽正, 孙茂文, 刘浩, 欧阳小平, 李斌斌. 高扭矩密度仿人机器人驱动单元研究[J]. 机械工程学报, 2022, 58(18): 192-204.

LI Huilai, LING Zhenfei, WANG Zezheng, SUN Maowen, LIU Hao, OUYANG Xiaoping, LI Binbin. Research on High Torque Density Drive Unit for Humanoid Robots[J]. Journal of Mechanical Engineering, 2022, 58(18): 192-204.

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高扭矩密度仿人机器人驱动单元研究

Research on High Torque Density Drive Unit for Humanoid Robots

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