Speaking of the performance requirements of industrial robots , nothing more than the words "fast, accurate, and ambiguous". In fact, this is the requirement for the robot joint servo motor . Today we will dismantle the meaning behind these three words.
The meanings of "fast" and "quasi" are very well understood, that is, the response speed of the servo motor is required to be fast, and the control precision is high. And how do you solve the word "ç‹ "? In fact, everyone thinks about it carefully. In addition to the fast and accurate servo motor, our remaining requirement for it is that it has a strong overload capability, that is, â€œç‹ â€.
1.1 Why does the servo motor require a strong overload capability?
Since the servo motor is mainly used to drive the motion of the joint on the robot, it needs to perform frequent forward and reverse short-running operations. In the case of such frequent reversal, and with a certain inertia load, the control speed is very fast, the overload capacity (overload torque, overload current) of the servo motor is very high.
It can be seen from the above formula that, in addition to the loaded torque Tload and the friction coefficient Kn, the actual servo motor will have a larger starting torque due to the influence of the load inertia J and the angular acceleration dω/dt. In particular, the faster the motor accelerates, the larger the dω/dt, the J does not change, the larger the Te, the stronger the torque overload capability of the servo motor must be.
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