Research On Key Technology Of Light Weight And High Load Two-dimensional Robot Driving Joint

As the crossed domain of multi-subject and modernization, the medical and service robot has become a popular research in the field of robot. In order to improve the reliability and load capacity of this kind of robot, much work has already been performed on the light weight and high load robot driving joint. The two-dimensional drive joint studied by this study is a highly integrated electromechanical integration equipment, which mainly used for mechanical hand, arm joint structure of service robots. This joint can output biaxial rotation, integrated motor, brake, output rotational speed measuring device in its interior.Based on the basic performance requirements of two-dimensional drive unit, a transmission scheme is made by matching gear transmission and worm transmission. The drive’s reverse braking requirement is achieved by the self-locking feature of worm drive. Incremental encoder is chosen as the output speed detection device and the transmission parameters are selected.To meet light weight and high load design requirements, traditional drive unit’s transmission system is optimized in size by using modern optimization design methods. Based on the theory of mechanical optimize design, optimization mathematical model of the transmission system is established. A transmission system with compact structure and excellent performance is established by MATLAB software’s optimization program and solving calculation.Statics simulations of optimized transmission system and performance check are finished by finite element analysis software. Comparison between simulation results and theoretical results confirms feasibility and accuracy of the finite element simulation of gear tooth surface contact stress and tooth root bending stress. The fatigue life of gear transmission was studied by using the finite element simulation method.This study analyzes the force of the drive joint body under different work modes. Aiming at light weight, the case’s thickness and structure are optimized. Not only the weight of case is reduced by 23.27%, but also the load deformation is dramatically improved. Finally, static and dynamic load test and speed detection test estimate the load capacity and speed detecting performance of the prototype, and methods of torque detection are discussed. Keywords: service robot; driving unit; optimization design; finite element;...