机器人关节无刷电机驱动与控制系统研究

Because of the current high cost of robot joints, complex control systems, and low integration, a modular robot joint and control system were designed. According to the joint design requirements, the STM32F103 chip was used as the main control chip, and the DRV8313 was used as the brushless motor driver chip. The brushless motor drive circuit of the robot joint was designed. Combined with the development of controller area network (CAN) bus and Windows presentation foundation (WPF) host computer, a simple and easy-to-operate multi-joint control system was designed. To meet the miniaturization design of the robot joint size, the structure of the robot joint was designed with a series planetary reduction group structure. The brushless motor drive principle was introduced in detail, the realization method of the control system was introduced from the hardware and software, and experiments were set up to verify the design. The experiments show that the designed robot joints and control system have the characteristics of modularization and miniaturization. It runs smoothly, reliably and is suitable for miniature service robots and robotic hands.