仿人机器人关节驱动微型伺服系统

摘要

用于仿人机器人关节驱动的微型伺服系统目前完全依赖进口.基于分析微型伺服系统各部件的发展现状与技术特点,研制了一款适用于仿人机器人关节驱动的国产伺服系统,包括永磁无刷伺服电机、巨磁阻编码器、高功率密度驱动模块以及通讯单元.通过与国内仿人机器人研究单位常用的几款进口伺服系统进行对比,验证所研制的微型伺服系统满足仿人机器人关节驱动对功率密度比等性能指标的要求,可完全代替进口产品.%The miniature servo system for the humanoid robot joints drive entirely depends on import now. Based on the analysis of the development status and technical characteristics of miniature servo system components, a novel domestic miniature servo system,which is comprised of brushless permanent magnet motor,giant magnetoresistance(GMR) encoder,high power density drive model and communication model etc, was applied to humanoid robot joint drive. Compare with the imports type, which extensively used by domestic robot research units, the proposed servo system satisfies the performance requests by the humanoid robot joints,such as the power density. Compare results improve that the proposed servo system can completely replace the imported products.