[关键词]
[摘要]
多自由度电机可以实现空间中的复杂运动,且具有结构简单、精确度高等优势,在机器人仿生关节、机械手臂及工业制造业上具有广阔的应用前景。对多自由度电机的背景、基本原理及技术优势进行了相关叙述。按照驱动机理的不同将多自由度电机进行分类,并对当前多自由度电机的国内外研究现状进行了总结。此外,基于多自由度电机的运动特点,对电机控制过程中的位置检测技术和运动控制策略进行了相关分析。最后,从多自由度电机的结构、控制体系、材料及制造工艺等方面进行了相关的叙述,对多自由度电机的发展趋势进行预测。通过对多自由度电机的研究与分析,为其未来的发展提供参考。
[Key word]
[Abstract]
The multi-degree-of-freedom motor can realize complex motion in space, and has the advantages of simple structure and high accuracy. It has broad application prospects in robot bionic joints, mechanical arms and industrial manufacturing. Firstly, the background, basic principles and technical advantages of multi-degree-of-freedom motor are described. Multi-degree-of-freedom motors are classified according to different mechanisms, and the current domestic and foreign research status of multi-degree-of-freedom motors are summarized. In addition, based on the motion characteristics of the multi-degree-of-freedom motor, the position detection technology and motion control strategy in the motor control process are analyzed. Finally, related descriptions are made on the structure, control system, materials and manufacturing process of the multi-degree-of-freedom motor, and the development trend of the multi-degree-of-freedom motor is predicted. Through the research and analysis of the multi-degree-of-freedom motor, reference is provided for its future development.
[中图分类号]
[基金项目]
国家自然科学基金项目(51877070, 51577048);河北省自然科学基金项目(E2018208155);河北省人才工程培养项目(A201905008);高节能电机及控制技术国家地方联合工程实验室开放课题项目(KFKT201901)