The selection of industrial robot linear motors requires that industrial robots can perform specific, precisely defined tasks such as assembly line operations, surgical assistance, warehouse delivery, retrieval, and even mine cleanup. Current robots can handle highly repetitive tasks and complex functions at the same time, such as the need for directional and operational flexibility.
With the improvement of technology, the speed and flexibility are increasing, the cost is also reduced, and people's acceptance is also increasing. It is now approaching the inflection point in the industry, that is, the cost-effectiveness of robots is better than that of artificial labor. In addition, advances in machine vision, computing power, and networking have prompted robots to become more widely used.
Each of these factors plays a crucial role in the design of robots because of technological advances and the synergistic development effects between them. Industrial robots When choosing a specific linear motor type and model, designers need to consider three main parameters:
1. The minimum and maximum speed (and associated acceleration) of the linear motor;
2. The maximum torque that the linear motor can provide, and the torque and speed curve;
3. Accuracy and repeatability of linear motor operation (when no sensors and closed-loop control are used).
Of course, there are other performance factors related to motor selection, including size, weight, and cost. For almost all small to medium-sized robotic actuators, common options for powering the drive include a DC brushed motor, a brushless DC motor, and a stepper motor. (However, in some cases, the choice is hydraulic and pneumatic)
The brush motor is a technology that is as early as a DC motor and is also a very simple, low-cost option. The rotor of the motor switches (rectifies) the magnetic field around the rotor windings via the energizing brushes, while the brushes are in contact with the rotor. The motor speed is a function of the applied voltage. Therefore, the drive requires a minimum value, but the management torque is difficult. There are also reliability issues caused by brush wear that may require cleaning and maintenance and are also a source of electrical noise (EMI). For these reasons, DC brush motors are poor choices for robots in most cases.
DC brushless linear motors appeared around the 1960s. Compared to brushed motors, small, low-cost, powerful permanent magnets and small, highly efficient electronic switches were used to switch currents to the windings. "Electronic commutation" replaces the brushes that actually touch the motor to turn the magnetic field on and off. Therefore, the relationship between the magnetic field and the power flow can be exploited. In addition, brushless linear motor controllers are more stringent in motor performance control than brush motors.
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