【目的】为了提高机器人关节电机在高核辐射环境中的性能稳定性，对耐核辐射机器人关节电机进行设计和样机研制，以满足核工业机器人在高辐射环境下长期运维作业。【方法】首先，根据关节电机所需的基本性能参数，通过有限元方法进行仿真，得到设计理想值；然后，分析关节电机的主要组成部分，确定金属材料受核辐射影响较小，而非金属材料是薄弱环节，通过对漆包线、热缩管、胶粘材料、润滑脂和引出线等进行辐射试验验证，分析电机所用材料的耐辐射性能极限；最后，选取适当材料进行机器人关节电机实物验证，使得关节电机能够耐受5 MGy辐射量级的γ射线。【结果】通过对关节电机的设计和分析，其额定力矩大于1.5 N·m，额定转速为240 r/min时满足使用要求；关节电机经过5 MGy γ射线辐射后，依然保持受控状态，内阻明显下降，转速降低，电流增加，电机整机性能下降约为15%。【结论】通过对关节电机的设计和样机测试验证，可以保证核工业机器人在高辐射环境中进行长期运维作业，试验量级达到5 MGy，完全满足当前核辐射环境机器人的应用需求。随着辐射量级的提升，电机性能虽然呈现下降趋势，但是依然处于受控状态。本研究为核领域电机的研制提供了一定的参考和支撑。

[Objective] To enhance the performance stability of robot joint motors in high-radiation environments, a design and prototype development are carried out for radiation-resistant robot joint motors to meet the long-term operation and maintenance requirements of nuclear industrial robots in high-radiation conditions. [Methods] Firstly, according to the basic performance parameters required for the joint motor, simulation was carried out by finite element method to get the ideal design value. Then, the main components of the joint motor were analyzed, and it was determined that the metal materials were less affected by nuclear radiation, while non-metallic materials were the weak links. Through radiation experimental verification of paint-coated wire, heat-shrinkable tube, adhesive material, lubricating grease, outgoing line, etc., the radiation-resistant performance limits of the materials used in the motor were analyzed. Finally, the appropriate materials were selected for the physical verification of the robot joint motor, so that the joint motor could withstand the γ-ray radiation level of 5 MGy. [Results] Through the designed and analysised of the joint motor, the rated torque of the motor was more than 1.5 N·m, and the rated speed of 240 r/min met the use requirements. The joint motor remained in a controlled state after 5 MGy γ-ray radiation, with a significant decrease in internal resistance, a decrease in rotational speed, an increase in current, and a decrease in the overall performance of the motor of about 15%. [Conclusion] Through the design and prototype test verification of the joint motor, it can ensure that the nuclear industrial robot can perform long-term operation and maintenance in a high-radiation environment, and the test magnitude reaches 5 MGy, which fully meets the current application requirements of radiation environment robots. With the increase of radiation level, the performance of the motor shows a decreasing trend, but it is still in a controlled state. This study provides certain reference and support for the development of motors in the nuclear field.

贵州省科技计划项目黔科合平台人才(CXTD[2023]002);贵州省科技计划项目黔科合平台(KXJZ[2024]018)