The joint drive of the intelligent robot cannot be separated from the servo system. The more joints, the higher the flexibility and accuracy of the intelligent robot, and the more the number of servo motors to be used. As the actuator of the control system, the electric servo drive system constitutes one of the three core components of the industrial intelligent robot. Electric servo drive system is an actuator that directly or indirectly drives the body of the robot to obtain the various movements of the robot, usually composed of servo motor and servo drive. In addition to the speed and torque control, the servo system can also be precise, fast and stable control.
Intelligent robot has very strict requirements for joint drive motors, so the requirements for electric servo drive system are also very strict, mainly in the following aspects:
(1) Rapid response, the higher the sensitivity of the electric servo system, the better the rapid response performance.
(2) The starting torque inertia ratio is large. In the case of driving load, the robot servo motor is required to have a large starting torque, and the rotational inertia is small.
(3) The continuity and linactness of the control characteristics, with the change of the control signal, the speed of the motor can change continuously, sometimes the speed is proportional or almost proportional to the control signal, wide speed range, can be used in the 1:1000~10000 speed range.
(4) Small volume, small mass, short axial size, to cooperate with the body shape of the robot.
(5) Can withstand the harsh operating conditions, can carry out a very frequent positive and negative direction and acceleration and deceleration operation, and can withstand several times the overload in a short time. AC servo driver is widely used in industrial intelligent robots because of its high torque inertia ratio, no brush and directional spark.
