摘要
由一名新闻记者-机器人与机器学习的工作人员新闻编辑每日新闻-关于机器人的最新研究结果已经发表。根据《中华人民共和国杭州消息》，NewsRx编辑的研究报告称：“直驱选择性装配机械臂(SCARA)省略了机械传动结构，具有定位精度高、运动速度快等优点，广泛应用于高端制造领域。”本研究的资金来源包括浙江省322省重点研发项目、国家自然科学基金。本报记者从浙江大学的研究中得到一句话：“然而，由于直驱式SCARA中结构动力耦合问题的加剧，位于关节处的永磁同步电机(PMSMs)将承受非稳态载荷，导致永磁同步电机内部温度过高，寿命缩短。”研究了永磁同步电机的寿命预测问题，建立了永磁同步电机的运动学和动力学模型，计算了永磁同步电机在特定典型运动任务下所需的转矩曲线，并以热应力作为影响寿命的主要因素，对绝缘材料进行了加速退化试验。基于加速退化模型，建立了永磁同步电机的可靠性函数，根据永磁同步电机的参数和工作条件，通过仿真得到了永磁同步电机的温度场分布。
Abstract
By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News-Current study results on robotics have been published. According to news originating from Hangzhou, People's Republic of China, by NewsRx editors, the research stated, "The direct-drive selective co mpliance assembly robot arm (SCARA) is widely used in high-end manufacturing fie lds, as it omits the mechanical transmission structures and has the advantages o f high positioning accuracy and fast movement speed." Financial supporters for this research include Key Research And Development Prog ram of Zhejiang 322 Province; National Natural Science Foundation of China. Our news journalists obtained a quote from the research from Zhejiang University : "However, due to the intensifying dynamic coupling problem of structures in th e direct-drive SCARA, the permanent magnet synchronous motors (PMSMs) located at the joints will take on nonstationary loads, which causes excessive internal te mperature and reduces the lifetime of PMSMs. To address these issues, the lifeti me prediction of PMSMs is studied. The kinematic and dynamic models of the SCARA are established to calculate the torque curve required by the PMSM in specific typical motion tasks. Additionally, considering thermal stress as the main facto r affecting lifetime, accelerated degradation tests are conducted on insulation material. Then, the reliability function of the PMSM is formulated based on the accelerated degradation model. Based on the parameters and working conditions of the PMSM, the temperature field distribution is obtained through simulation."
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