一體化關節馬達模組設計

關節馬達模組可做為機器手臂、腿足式機器人之核心動力組件，其模組重量、關節出力等各項性能參數將影響組裝成機器手臂或機器人的整體性能、動態特性與應用範圍，本文將介紹關節馬達模組一體化設計技術，整合馬達、減速機、驅控板等三大部分為一模組化的組件，關節馬達模組根據其感測器設計方案又可分為剛性致動器、串聯彈性致動器以及准直驅致動器三種感測器建置方案，本文以腿足式機器人需求設計馬達並採用准直驅致動搭配行星減速機做為設計說明。

The robot joint modules can be used as the core power component for robot arms and legged robots. Its module weights, torque outputs and other performance parameters will affect the overall performance, dynamic characteristics and application range of the assembled robot arms or legged robots. This article will introduce the integrated design of the robot joint modules, integrating the motor, reducer and motor drive, three parts into a modular component. The robot joint modules can be divided into three schemes according to its sensor design scheme: rigid actuator, series elastic actuator (SEA) and quasi-direct drive (QDD) actuator. This article designs the motor based on the needs of the legged robot and uses quasi-direct drive actuator with a planetary reducer as a design description.