论文标题
基于3K-H-V拓扑的新型机器人驱动器的原型设计和效率分析
Prototype Design and Efficiency Analysis of a Novel Robot Drive Based on 3K-H-V Topology
论文作者
论文摘要
机器人执行器直接影响机器人的性能，机器人驱动器直接影响机器人执行器的性能。随着机器人技术的开发，机器人对机器人驱动器提出了更高的要求，例如高刚度，高准确性，高负载，高效率，低压，紧凑型和空心结构。为了满足机器人执行器的需求开发，该研究基础提出了一种新的机器人驱动器，该机器人驱动器是从驱动器拓扑的角度以及通过脱钩的设计概念来基于3K-H-V拓扑的新机器人驱动器。在这项研究中，分析了3K-H-V拓扑的还原比和效率模型，并设计了一个原型行星循环执行器。最初通过实验性地得出PCA具有空心结构，紧凑的尺寸和高扭矩密度（69 kg/nm）来验证驱动器的可行性。
Robot actuators directly affect the performance of robots, and robot drives directly affect the performance of robot actuators. With the development of robotics, robots have put higher requirements on robot drives, such as high stiffness, high accuracy, high loading, high efficiency, low backlash, compact size, and hollow structure. In order to meet the demand development of robot actuators, this research base proposes a new robot drive based on 3K-H-V topology using involute and cycloidal gear shapes, planetary cycloidal drive, from the perspective of drive topology and through the design idea of decoupling. In this study, the reduction ratio and the efficiency model of the 3K-H-V topology were analyzed, and a prototype planetary cycloidal actuator was designed. The feasibility of the drive is initially verified by experimentally concluding that the PCA has a hollow structure, compact size, and high torque density (69 kg/Nm).
