Research on High Torque Density Drive Unit for Humanoid Robots

doi:10.3901/JME.2022.18.192

Abstract

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

CLC Number:

TG156

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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