关键词: 直驱电机, Delta机器人, 敏感性分析, 响应面模型

Abstract: Aiming at the problems of easy wear of the traditional Delta robot reducer,the existence of rotary clearance and the aggravation of chattering during commutation,the outer rotor direct drive scheme was adopted. Firstly,combined with the configuration and trajectory requirements of Delta robot,an outer rotor permanent magnet synchronous motor with high torque and high precision was designed,and the structure of the drive unit was redesigned to adapt to the external rotor scheme. Then,the stiffness and modal analysis of the Delta robot were carried out to determine the design parameters and optimization objectives of the direct-drive Delta robot. The Sobol′ sensitivity analysis method was used to simplify the design parameters. The genetic algorithm and the response surface were used to optimize the high sensitivity parameters. Based on the determined design parameters,the moving platform material optimization was carried out. Finally,the motor control performance test and the robot load capacity and repeated positioning accuracy test were carried out to verify that the accuracy and output capacity of the designed direct drive scheme meet the application requirements of the Delta robot. The results show that the designed outer rotor direct drive motor has the advantages of high torque,high precision and good control performance. The results before and after optimization prove the effectiveness of the cross-section parameter optimization method.

Key words: direct drive motor, Delta robot, sensitivity analysis, response surface model