驱动关节的小型化对于面向脑瘫儿童康复的下肢外骨骼机器人的推广和应用具有重要意义.基于健康儿童的行走分析,确定了康复机器人驱动关节的设计需求,继而设计出一种小体积,高转矩密度,高控制带宽的驱动关节.在结构上将减速器与电机定子内径结合,实现了驱动关节的小型化.对驱动关节的电机和减速器进行了参数设计和有限元仿真,验证了电磁和机械可靠性.建立驱动关节的动力学模型,推导了速度环传递函数,介绍了驱动关节的FOC闭环控制方法.对驱动关节样机进行系统辨识和负载特性测试,测试结果表明,所设计的驱动关节具有体积小、扭矩密度高和动态性能好等优点,外形尺寸为Φ65 mm×39 mm,额定扭矩密度达到33.71 N·m/kg,空载工况下闭环控制带宽达到57 Hz.
Research on Miniaturized High Torque Density Exoskeleton Drive Joint
The miniaturization of driving joints holds significant importance for the promotion and application of lower-limb exoskeleton robots aimed at the rehabilitation of children with cerebral palsy.Based on gait analysis of healthy children,the design requirements for the rehabilitation robot's driving joints are established,leading to the design of a compact actuator characterized by high torque density and high control bandwidth.Structurally,the integration of the reducer with the inner diameter of the motor stator achieves the miniaturization of the driving joint.Parameter design and finite element simulation are conducted for the actuator's motor and reducer,verifying electromagnetic and mechanical reliability.A dynamical model of the driving joint is established,deriving the velocity loop transfer function,and introducing the field-oriented control(FOC)closed-loop control method for the actuator.The system identification and load characteristic tests are performed on the prototype of the driving joint.The test results demonstrate that the designed actuator possesses advantages such as compact size,high torque density,and excellent dynamic performance,with dimensions of Φ65 mm × 39 mm,a rated torque density of 33.71*/kg,and a no-load closed-loop control bandwidth of 57 Hz.
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