Thermal Modeling And Optimization Of Multi-channel Integrated Servo Driver System For Humanoid Robot

Humanoid robots have a large number of joints and a narrow internal space.Therefore,drivers are required to be able to drive multiple motors while occupying as little space as possible and with good heat dissipation.Raising the heat dissipation performance of the robot driver and reducing the temperature during the operation of the driver can increase the working life of the electronic components in the driver,thereby prolonging the trouble-free operation of the entire robot system.In addition,when the heat dissipation conditions are poor,the heat will accumulate with the robot's motion time,which will cause the entire robot system temperature to be too high,affecting the robot's continuous working time.At present,humanoid robots are affected by heat dissipation problems and have a short duration of continuous operation.There are few researches on the heat dissipation of robot drivers,and they are all researched on the heat dissipation of single-channel drivers.The research on the heat dissipation of multi-channel integrated drivers for robots is still a blank.Based on the needs and characteristics of humanoid robots,studying the heat dissipation of multi-channel integrated drives used in robots.The thermal resistance theory is used to combine the flow field characteristics of the drive system during heat dissipation to establish a thermal resistance model to calculate the temperature of the drive system during operation.Since the circuit board is layered in the driver system,the distance parameters of each layer in the driver system are used as design variables to optimize the maximum temperature of the driver system during operation.The heat dissipation of the driver system is optimized.According to the results of the optimized design,simulations are performed in Fluent to verify the effectiveness of the optimized design.After simulation and verification,it is verified that the optimized design can effectively improve the heat dissipation capability of the drive system,and the heat dissipation performance of the drive system can fully meet the requirements of the robot.As the robot is working,its heat power consumption of the actuator changes with time.Therefore,the thermal resistance model is improved in this paper and a thermal capacity thermal resistance model that can describe the transient process is obtained.Based on this model,according to the torque curve of the motor,the temperature curve of each driver unit in the drive system can be calculated.According to the temperature curve,the motor that causes the high temperature of the driver is matched with the driver unit with good heat dissipation to reduce the maximum temperature when the driver system is operating.In this paper,a multi-channel integrated DC servo driver is designed for the “Go Ro Bo T-II” type humanoid robot,and a thermal resistance model is established,optimized design is performed,simulation verification is completed,and the thermal performance of the driver is improved;This paper also establishes a thermal capacity thermal resistance model for transient temperature calculations and matches the motor and driver units to reduce the maximum operating temperature of the driver system.