Research On Direct Electric Driving Technology Of Industrial Robot

Traditional Industrial robot using servo motor and speed reducer mechanism to achieve therotation of the fuselage. Speed reducer have many disadvantages such as complicatedstructure, inefficiency, big moment of inertia and noise, leak of lubricating oil, bigtransmission gap, maintenance more often, equipment serious friction and so on. This paperproposes a low speed high torque direct drive motor technology. Using the low speed hightorque direct drive motor not only avoiding the use of speed reducer, reducing power andenergy loss caused by transmission and vibration, but also have Less vibration, and simplifythe process equipment installation and maintenance. The installation precision and thetransmission efficiency is improved, the life of machine extend.First, A7-axis Industrial robot for3D modeling and mathematical modeling, kinematicsanalysis to get rating of the industrial robot J1shaft torque, maximum torque, speed and otherdata, for the design of the torque direct drive motor to provide reliable input parameters.Secondly, with the help of Siemens motor to design a torque direct drive motor of varioustechnical indicators and overall dimensions, use in combination with field road, cooperatewith ANSOFT Maxwell electromagnetic field simulation analysis and ANSYS workbenchmechanics analysis, design a suitable for industrial robots J1shaft torque direct drive motor,and optimize the motor’s permanent magnet shape, reduce the spline torque and improve theperformance of the motor.Finally, Designing a set of reasonable installation structure for torque direct drive motor tocomplete the connection with motor and industrial robots rotating base. Using ANSOFTMaxwell electromagnetic field simulation software to simulate the motor in the actual drivingmechanical arm under the condition of transient motion process, verify the feasibility of the torque direct drive motor.