关键词: 集成谐波减速器电机, 谐波减速器, 伺服电机, 多目标优化设计

Abstract:

A new type of actuator, gear-motor with harmonic drive combined by servor motors was proposed. It features high precision, large torque, low speed and small volume. Using this actuator can greatly reduce the design and installation errors caused by split structure, and facilitate the later maintenance. In order to find a balance between performance and cost of new products, non-dominated sorting genetic algorithm (NSGA-II) was used to do multi-objective optimization for one selected actuator. The optimal results, Pareto front, can help the designers to make a final selection from the Pareto optimal solutions. According to the optimization results, a prototype was made and tested. The results show that this new actuator has advantages in terms of cost, size and ease of installation.

Key words: gear-motor with harmonic drive, servor motor, multi-objective optimization