Design of a performance test system for modular robot joints based on Lab VIEW

摘要

The performance of a modular robot joint is determined by its structure and control algorithm, which is difficult to be determined by theoretical analysis. Therefore, the hardware and software of a robot joint performance test system are designed in the paper. Firstly, the hardware system consists of a mechanical device, sensors, and a data acquisition module. Secondly, the software system is developed based on the LabVIEW programming platform, which mainly includes a performance evaluation module and a human-computer interaction module. The performance of the robot joint such as output rated speed, output rated torque, output speed-torque characteristic curve, repeated positioning accuracy, back clearance, torsional stiffness, and transmission ratio can be tested. Finally, the function and feasibility of the system are verified by experiments, which can meet the requirements of modular joint performance testing.