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指(zhi)應用于多(duo)軸(zhou)運(yun)動(dong)(dong)(dong)控(kong)(kong)(kong)制(zhi)(zhi)(zhi)的精密伺服系(xi)(xi)(xi)統(tong)。一個多(duo)軸(zhou)運(yun)動(dong)(dong)(dong)控(kong)(kong)(kong)制(zhi)(zhi)(zhi)系(xi)(xi)(xi)統(tong)是由高(gao)階運(yun)動(dong)(dong)(dong)控(kong)(kong)(kong)制(zhi)(zhi)(zhi)器與低階伺服驅動(dong)(dong)(dong)器所組成，運(yun)動(dong)(dong)(dong)控(kong)(kong)(kong)制(zhi)(zhi)(zhi)器負責運(yun)動(dong)(dong)(dong)控(kong)(kong)(kong)制(zhi)(zhi)(zhi)命令(ling)譯碼、各(ge)個位(wei)置(zhi)控(kong)(kong)(kong)制(zhi)(zhi)(zhi)軸(zhou)彼此間的相對(dui)運(yun)動(dong)(dong)(dong)、加減速輪廓控(kong)(kong)(kong)制(zhi)(zhi)(zhi)等(deng)(deng)等(deng)(deng)，其(qi)主(zhu)要作用在于降(jiang)(jiang)低整體系(xi)(xi)(xi)統(tong)運(yun)動(dong)(dong)(dong)控(kong)(kong)(kong)制(zhi)(zhi)(zhi)的路徑誤(wu)差。伺服驅動(dong)(dong)(dong)器負責伺服電機的位(wei)置(zhi)控(kong)(kong)(kong)制(zhi)(zhi)(zhi)，其(qi)主(zhu)要作用在于降(jiang)(jiang)低伺服軸(zhou)的追隨(sui)誤(wu)差。

該圖片由注冊用戶"天空之城"提供，版權聲明反饋

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服電機(ji)、伺服驅動(dong)器(qi)、指(zhi)令(ling)機(ji)構(gou)三大部(bu)分構(gou)成，伺服電機(ji)是(shi)執行機(ji)構(gou)，就(jiu)是(shi)靠(kao)它來實現(xian)運動(dong)的(de)(de)，伺服驅動(dong)器(qi)是(shi)伺服電機(ji)的(de)(de)功率電源，指(zhi)令(ling)機(ji)構(gou)是(shi)發脈沖或者給速(su)度用于(yu)配合伺服驅動(dong)器(qi)正常工作的(de)(de)。

機(ji)(ji)(ji)(ji)器人(ren)(ren)對伺(si)(si)服(fu)(fu)(fu)(fu)(fu)電(dian)機(ji)(ji)(ji)(ji)的(de)(de)(de)要求比(bi)其(qi)它兩(liang)個(ge)部分都高(gao)。首先要求伺(si)(si)服(fu)(fu)(fu)(fu)(fu)電(dian)機(ji)(ji)(ji)(ji)具有(you)(you)快速響(xiang)應(ying)性(xing)(xing)。電(dian)機(ji)(ji)(ji)(ji)從獲(huo)得指(zhi)(zhi)令信號(hao)到(dao)完成(cheng)(cheng)指(zhi)(zhi)令所要求的(de)(de)(de)工作(zuo)狀態的(de)(de)(de)時(shi)間(jian)(jian)應(ying)短。響(xiang)應(ying)指(zhi)(zhi)令信號(hao)的(de)(de)(de)時(shi)間(jian)(jian)愈(yu)短，電(dian)伺(si)(si)服(fu)(fu)(fu)(fu)(fu)系統的(de)(de)(de)靈(ling)敏性(xing)(xing)愈(yu)高(gao)，快速響(xiang)應(ying)性(xing)(xing)能(neng)(neng)愈(yu)好，一般(ban)是以伺(si)(si)服(fu)(fu)(fu)(fu)(fu)電(dian)機(ji)(ji)(ji)(ji)的(de)(de)(de)機(ji)(ji)(ji)(ji)電(dian)時(shi)間(jian)(jian)常數的(de)(de)(de)大(da)小來說明(ming)伺(si)(si)服(fu)(fu)(fu)(fu)(fu)電(dian)機(ji)(ji)(ji)(ji)快速響(xiang)應(ying)的(de)(de)(de)性(xing)(xing)能(neng)(neng)。其(qi)次，伺(si)(si)服(fu)(fu)(fu)(fu)(fu)電(dian)機(ji)(ji)(ji)(ji)的(de)(de)(de)起(qi)動轉矩(ju)慣(guan)量比(bi)要大(da)。在驅(qu)動負載的(de)(de)(de)情況下，要求機(ji)(ji)(ji)(ji)器人(ren)(ren)的(de)(de)(de)伺(si)(si)服(fu)(fu)(fu)(fu)(fu)電(dian)機(ji)(ji)(ji)(ji)的(de)(de)(de)起(qi)動轉矩(ju)大(da)，轉動慣(guan)量小。最后，伺(si)(si)服(fu)(fu)(fu)(fu)(fu)電(dian)機(ji)(ji)(ji)(ji)要具有(you)(you)控制(zhi)特性(xing)(xing)的(de)(de)(de)連續(xu)(xu)性(xing)(xing)和直(zhi)線性(xing)(xing)，隨著控制(zhi)信號(hao)的(de)(de)(de)變(bian)化，電(dian)機(ji)(ji)(ji)(ji)的(de)(de)(de)轉速能(neng)(neng)連續(xu)(xu)變(bian)化，有(you)(you)時(shi)還需轉速與控制(zhi)信號(hao)成(cheng)(cheng)正(zheng)比(bi)或近(jin)似成(cheng)(cheng)正(zheng)比(bi)。

當(dang)然，為了配合機(ji)器人(ren)的體形(xing)，伺服電(dian)機(ji)必須體積小、質量小、軸向(xiang)尺(chi)寸短。還要經受(shou)得起苛(ke)刻(ke)的運(yun)行(xing)條件，可進(jin)行(xing)十(shi)分頻繁的正(zheng)反向(xiang)和加減速運(yun)行(xing)，并能在(zai)短時(shi)間(jian)內(nei)承受(shou)數倍(bei)過(guo)載。

伺服驅(qu)動(dong)(dong)器是可利用(yong)各(ge)種電機(ji)產生的(de)(de)力(li)(li)矩和(he)力(li)(li)，直接或間(jian)接地驅(qu)動(dong)(dong)機(ji)器人(ren)(ren)本體以獲得機(ji)器人(ren)(ren)的(de)(de)各(ge)種運動(dong)(dong)的(de)(de)執行機(ji)構，具有(you)轉矩轉動(dong)(dong)慣(guan)量比高、無電刷及(ji)換(huan)向火(huo)花等優點，在機(ji)器人(ren)(ren)中應用(yong)比較(jiao)廣(guang)泛(fan)。