一、什么是機器人伺服系統
通常情況下,我們所說的機器人伺服系統是(shi)指應(ying)用于多軸(zhou)(zhou)(zhou)運動(dong)(dong)控(kong)(kong)制(zhi)的(de)精密伺服系統(tong)。一個多軸(zhou)(zhou)(zhou)運動(dong)(dong)控(kong)(kong)制(zhi)系統(tong)是(shi)由高階運動(dong)(dong)控(kong)(kong)制(zhi)器(qi)(qi)與低階伺服驅動(dong)(dong)器(qi)(qi)所組(zu)成,運動(dong)(dong)控(kong)(kong)制(zhi)器(qi)(qi)負(fu)責(ze)運動(dong)(dong)控(kong)(kong)制(zhi)命令譯(yi)碼(ma)、各(ge)個位(wei)置(zhi)控(kong)(kong)制(zhi)軸(zhou)(zhou)(zhou)彼此間的(de)相對運動(dong)(dong)、加減速輪廓控(kong)(kong)制(zhi)等(deng)等(deng),其主要作用在于降(jiang)低整體系統(tong)運動(dong)(dong)控(kong)(kong)制(zhi)的(de)路(lu)徑誤(wu)差。伺服驅動(dong)(dong)器(qi)(qi)負(fu)責(ze)伺服電機(ji)的(de)位(wei)置(zhi)控(kong)(kong)制(zhi),其主要作用在于降(jiang)低伺服軸(zhou)(zhou)(zhou)的(de)追隨誤(wu)差。
二、工業機器人伺服系統的組成有哪些
工業機器人伺服系統由伺(si)(si)服(fu)電機(ji)、伺(si)(si)服(fu)驅動(dong)器(qi)、指令機(ji)構(gou)三大部分構(gou)成,伺(si)(si)服(fu)電機(ji)是執行機(ji)構(gou),就是靠(kao)它來實現運(yun)動(dong)的(de)(de),伺(si)(si)服(fu)驅動(dong)器(qi)是伺(si)(si)服(fu)電機(ji)的(de)(de)功率電源,指令機(ji)構(gou)是發(fa)脈沖(chong)或者給速度用于配合伺(si)(si)服(fu)驅動(dong)器(qi)正常工(gong)作的(de)(de)。
機(ji)(ji)器人對伺(si)(si)服(fu)電(dian)(dian)(dian)(dian)機(ji)(ji)的(de)(de)(de)(de)要求比其(qi)它(ta)兩個部分都高。首先要求伺(si)(si)服(fu)電(dian)(dian)(dian)(dian)機(ji)(ji)具有(you)快(kuai)速(su)響(xiang)應(ying)性(xing)(xing)(xing)(xing)。電(dian)(dian)(dian)(dian)機(ji)(ji)從獲(huo)得指令信(xin)號到完成(cheng)(cheng)指令所要求的(de)(de)(de)(de)工作狀態(tai)的(de)(de)(de)(de)時間應(ying)短(duan)。響(xiang)應(ying)指令信(xin)號的(de)(de)(de)(de)時間愈短(duan),電(dian)(dian)(dian)(dian)伺(si)(si)服(fu)系統的(de)(de)(de)(de)靈敏性(xing)(xing)(xing)(xing)愈高,快(kuai)速(su)響(xiang)應(ying)性(xing)(xing)(xing)(xing)能愈好,一般是以(yi)伺(si)(si)服(fu)電(dian)(dian)(dian)(dian)機(ji)(ji)的(de)(de)(de)(de)機(ji)(ji)電(dian)(dian)(dian)(dian)時間常數的(de)(de)(de)(de)大小來說明伺(si)(si)服(fu)電(dian)(dian)(dian)(dian)機(ji)(ji)快(kuai)速(su)響(xiang)應(ying)的(de)(de)(de)(de)性(xing)(xing)(xing)(xing)能。其(qi)次,伺(si)(si)服(fu)電(dian)(dian)(dian)(dian)機(ji)(ji)的(de)(de)(de)(de)起動(dong)(dong)轉(zhuan)(zhuan)矩(ju)慣量比要大。在(zai)驅動(dong)(dong)負載的(de)(de)(de)(de)情況下,要求機(ji)(ji)器人的(de)(de)(de)(de)伺(si)(si)服(fu)電(dian)(dian)(dian)(dian)機(ji)(ji)的(de)(de)(de)(de)起動(dong)(dong)轉(zhuan)(zhuan)矩(ju)大,轉(zhuan)(zhuan)動(dong)(dong)慣量小。最后(hou),伺(si)(si)服(fu)電(dian)(dian)(dian)(dian)機(ji)(ji)要具有(you)控制(zhi)特性(xing)(xing)(xing)(xing)的(de)(de)(de)(de)連續性(xing)(xing)(xing)(xing)和直(zhi)線性(xing)(xing)(xing)(xing),隨著(zhu)控制(zhi)信(xin)號的(de)(de)(de)(de)變化,電(dian)(dian)(dian)(dian)機(ji)(ji)的(de)(de)(de)(de)轉(zhuan)(zhuan)速(su)能連續變化,有(you)時還(huan)需轉(zhuan)(zhuan)速(su)與控制(zhi)信(xin)號成(cheng)(cheng)正(zheng)比或近似成(cheng)(cheng)正(zheng)比。
當(dang)然,為(wei)了配合(he)機器人(ren)的體形,伺服電機必須體積小、質(zhi)量小、軸向尺寸(cun)短。還要經受得起苛刻(ke)的運行(xing)條件,可進行(xing)十分(fen)頻繁的正反向和加減速運行(xing),并能在(zai)短時間內承(cheng)受數倍(bei)過載。
伺服(fu)驅動器(qi)是(shi)可利用各種電(dian)(dian)機(ji)產(chan)生的力矩和力,直接(jie)或間接(jie)地驅動機(ji)器(qi)人本體(ti)以(yi)獲得機(ji)器(qi)人的各種運動的執(zhi)行機(ji)構,具有轉矩轉動慣量比(bi)(bi)高、無電(dian)(dian)刷及換向火花(hua)等優點,在機(ji)器(qi)人中應用比(bi)(bi)較廣(guang)泛。