一、什么是機器人伺服系統

通常情況下，我們所說的機器人伺服系統是(shi)指應(ying)用于(yu)多軸(zhou)(zhou)運(yun)(yun)(yun)(yun)動(dong)(dong)(dong)控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)的(de)精(jing)密伺(si)服(fu)(fu)系統。一個多軸(zhou)(zhou)運(yun)(yun)(yun)(yun)動(dong)(dong)(dong)控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)系統是(shi)由高(gao)階運(yun)(yun)(yun)(yun)動(dong)(dong)(dong)控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)器與低階伺(si)服(fu)(fu)驅動(dong)(dong)(dong)器所(suo)組成，運(yun)(yun)(yun)(yun)動(dong)(dong)(dong)控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)器負責運(yun)(yun)(yun)(yun)動(dong)(dong)(dong)控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)命令譯碼、各個位(wei)置控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)軸(zhou)(zhou)彼此間(jian)的(de)相對(dui)運(yun)(yun)(yun)(yun)動(dong)(dong)(dong)、加(jia)減(jian)速輪廓控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)等等，其(qi)主(zhu)要(yao)作(zuo)用在(zai)于(yu)降低整體系統運(yun)(yun)(yun)(yun)動(dong)(dong)(dong)控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)的(de)路徑誤(wu)差。伺(si)服(fu)(fu)驅動(dong)(dong)(dong)器負責伺(si)服(fu)(fu)電機的(de)位(wei)置控(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)，其(qi)主(zhu)要(yao)作(zuo)用在(zai)于(yu)降低伺(si)服(fu)(fu)軸(zhou)(zhou)的(de)追隨誤(wu)差。

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二、工業機器人伺服系統的組成有哪些

工業機器人伺服系統由伺(si)服(fu)(fu)(fu)電(dian)機(ji)、伺(si)服(fu)(fu)(fu)驅動(dong)器、指(zhi)令機(ji)構三大部分構成，伺(si)服(fu)(fu)(fu)電(dian)機(ji)是執行機(ji)構，就是靠(kao)它來實(shi)現運動(dong)的(de)，伺(si)服(fu)(fu)(fu)驅動(dong)器是伺(si)服(fu)(fu)(fu)電(dian)機(ji)的(de)功率電(dian)源，指(zhi)令機(ji)構是發(fa)脈沖或(huo)者給(gei)速度用于配合(he)伺(si)服(fu)(fu)(fu)驅動(dong)器正常工作(zuo)的(de)。

機器人對伺(si)(si)(si)(si)服(fu)電(dian)(dian)機的(de)要(yao)(yao)求比其它兩個部分(fen)都高(gao)。首先要(yao)(yao)求伺(si)(si)(si)(si)服(fu)電(dian)(dian)機具有快(kuai)(kuai)速(su)響(xiang)應性(xing)(xing)。電(dian)(dian)機從獲得(de)指令(ling)(ling)信號(hao)到完成指令(ling)(ling)所(suo)要(yao)(yao)求的(de)工作(zuo)狀態的(de)時(shi)間應短。響(xiang)應指令(ling)(ling)信號(hao)的(de)時(shi)間愈短，電(dian)(dian)伺(si)(si)(si)(si)服(fu)系統的(de)靈敏性(xing)(xing)愈高(gao)，快(kuai)(kuai)速(su)響(xiang)應性(xing)(xing)能(neng)(neng)愈好，一(yi)般是以伺(si)(si)(si)(si)服(fu)電(dian)(dian)機的(de)機電(dian)(dian)時(shi)間常(chang)數的(de)大小(xiao)來(lai)說明伺(si)(si)(si)(si)服(fu)電(dian)(dian)機快(kuai)(kuai)速(su)響(xiang)應的(de)性(xing)(xing)能(neng)(neng)。其次，伺(si)(si)(si)(si)服(fu)電(dian)(dian)機的(de)起動轉(zhuan)(zhuan)矩慣量比要(yao)(yao)大。在驅動負載(zai)的(de)情況下，要(yao)(yao)求機器人的(de)伺(si)(si)(si)(si)服(fu)電(dian)(dian)機的(de)起動轉(zhuan)(zhuan)矩大，轉(zhuan)(zhuan)動慣量小(xiao)。最后，伺(si)(si)(si)(si)服(fu)電(dian)(dian)機要(yao)(yao)具有控(kong)(kong)制特性(xing)(xing)的(de)連續性(xing)(xing)和直線性(xing)(xing)，隨著控(kong)(kong)制信號(hao)的(de)變化，電(dian)(dian)機的(de)轉(zhuan)(zhuan)速(su)能(neng)(neng)連續變化，有時(shi)還(huan)需轉(zhuan)(zhuan)速(su)與控(kong)(kong)制信號(hao)成正(zheng)比或近似成正(zheng)比。

當然，為了配合機(ji)器人的體形，伺(si)服電(dian)機(ji)必(bi)須體積小、質量小、軸(zhou)向(xiang)尺寸短。還要經受得起苛刻的運行(xing)條件，可進(jin)行(xing)十分頻繁的正反向(xiang)和加減速運行(xing)，并能在短時(shi)間(jian)內承(cheng)受數倍過載。

伺服驅(qu)(qu)動(dong)器(qi)是可利用各(ge)種電機產(chan)生的(de)力(li)矩和力(li)，直接(jie)或(huo)間(jian)接(jie)地驅(qu)(qu)動(dong)機器(qi)人(ren)本體以獲得(de)機器(qi)人(ren)的(de)各(ge)種運動(dong)的(de)執行(xing)機構，具有轉矩轉動(dong)慣量比高、無電刷及換向(xiang)火花等優點，在機器(qi)人(ren)中應用比較(jiao)廣(guang)泛。