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(yu)(yu)多(duo)軸(zhou)(zhou)(zhou)運動(dong)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)的精密(mi)伺(si)服(fu)(fu)系統(tong)。一(yi)個多(duo)軸(zhou)(zhou)(zhou)運動(dong)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)系統(tong)是由高階運動(dong)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)器(qi)與低(di)(di)(di)階伺(si)服(fu)(fu)驅(qu)動(dong)器(qi)所組(zu)成，運動(dong)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)器(qi)負責運動(dong)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)命令譯碼、各(ge)個位(wei)置控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)軸(zhou)(zhou)(zhou)彼此(ci)間的相對運動(dong)、加減速輪廓(kuo)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)等等，其主要作(zuo)用在(zai)于(yu)(yu)降(jiang)低(di)(di)(di)整體系統(tong)運動(dong)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)的路(lu)徑誤(wu)差(cha)。伺(si)服(fu)(fu)驅(qu)動(dong)器(qi)負責伺(si)服(fu)(fu)電機(ji)的位(wei)置控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)，其主要作(zuo)用在(zai)于(yu)(yu)降(jiang)低(di)(di)(di)伺(si)服(fu)(fu)軸(zhou)(zhou)(zhou)的追(zhui)隨(sui)誤(wu)差(cha)。

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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(you)伺(si)服(fu)(fu)(fu)電機(ji)(ji)(ji)、伺(si)服(fu)(fu)(fu)驅(qu)(qu)(qu)動(dong)器、指令(ling)(ling)機(ji)(ji)(ji)構(gou)三大部分構(gou)成，伺(si)服(fu)(fu)(fu)電機(ji)(ji)(ji)是(shi)執行(xing)機(ji)(ji)(ji)構(gou)，就是(shi)靠它(ta)來(lai)實(shi)現運動(dong)的，伺(si)服(fu)(fu)(fu)驅(qu)(qu)(qu)動(dong)器是(shi)伺(si)服(fu)(fu)(fu)電機(ji)(ji)(ji)的功率電源，指令(ling)(ling)機(ji)(ji)(ji)構(gou)是(shi)發(fa)脈沖或(huo)者給速度(du)用于(yu)配合伺(si)服(fu)(fu)(fu)驅(qu)(qu)(qu)動(dong)器正常(chang)工作的。

機(ji)器(qi)人對(dui)伺服(fu)(fu)(fu)(fu)(fu)電(dian)(dian)(dian)機(ji)的(de)(de)要求比其(qi)(qi)它兩個部分都高。首(shou)先要求伺服(fu)(fu)(fu)(fu)(fu)電(dian)(dian)(dian)機(ji)具有(you)(you)快速(su)響(xiang)應(ying)性(xing)(xing)(xing)(xing)。電(dian)(dian)(dian)機(ji)從獲(huo)得指令信號到完成(cheng)(cheng)指令所要求的(de)(de)工(gong)作狀態的(de)(de)時間(jian)應(ying)短。響(xiang)應(ying)指令信號的(de)(de)時間(jian)愈短，電(dian)(dian)(dian)伺服(fu)(fu)(fu)(fu)(fu)系(xi)統(tong)的(de)(de)靈敏性(xing)(xing)(xing)(xing)愈高，快速(su)響(xiang)應(ying)性(xing)(xing)(xing)(xing)能愈好，一般是以伺服(fu)(fu)(fu)(fu)(fu)電(dian)(dian)(dian)機(ji)的(de)(de)機(ji)電(dian)(dian)(dian)時間(jian)常(chang)數的(de)(de)大(da)(da)小來說明伺服(fu)(fu)(fu)(fu)(fu)電(dian)(dian)(dian)機(ji)快速(su)響(xiang)應(ying)的(de)(de)性(xing)(xing)(xing)(xing)能。其(qi)(qi)次，伺服(fu)(fu)(fu)(fu)(fu)電(dian)(dian)(dian)機(ji)的(de)(de)起動轉矩慣量(liang)比要大(da)(da)。在驅動負載的(de)(de)情況(kuang)下(xia)，要求機(ji)器(qi)人的(de)(de)伺服(fu)(fu)(fu)(fu)(fu)電(dian)(dian)(dian)機(ji)的(de)(de)起動轉矩大(da)(da)，轉動慣量(liang)小。最后，伺服(fu)(fu)(fu)(fu)(fu)電(dian)(dian)(dian)機(ji)要具有(you)(you)控制特性(xing)(xing)(xing)(xing)的(de)(de)連(lian)續性(xing)(xing)(xing)(xing)和(he)直線(xian)性(xing)(xing)(xing)(xing)，隨著控制信號的(de)(de)變化，電(dian)(dian)(dian)機(ji)的(de)(de)轉速(su)能連(lian)續變化，有(you)(you)時還需轉速(su)與控制信號成(cheng)(cheng)正比或近似(si)成(cheng)(cheng)正比。

當然，為了配合機器人的(de)體形，伺服電機必須體積小、質量小、軸(zhou)向尺寸(cun)短。還要經受(shou)得起苛刻的(de)運行條(tiao)件，可進行十分頻繁(fan)的(de)正反向和加減(jian)速運行，并能在短時間內承受(shou)數倍過載(zai)。

伺(si)服(fu)驅(qu)動(dong)(dong)(dong)器是(shi)可利用各種(zhong)電機(ji)(ji)產(chan)生(sheng)的力(li)矩(ju)和力(li)，直(zhi)接(jie)(jie)或(huo)間接(jie)(jie)地驅(qu)動(dong)(dong)(dong)機(ji)(ji)器人本體以獲得機(ji)(ji)器人的各種(zhong)運動(dong)(dong)(dong)的執行機(ji)(ji)構，具有轉矩(ju)轉動(dong)(dong)(dong)慣(guan)量比(bi)高、無電刷及(ji)換向(xiang)火花等優點，在機(ji)(ji)器人中應用比(bi)較廣泛。