小型摆动肢体移动机器人用DC电动谐振驱动器的特性与热管理
Characterization and Thermal Management of a DC Motor-Driven Resonant Actuator for Miniature Mobile Robots with Oscillating Limbs
摘要：
在本文中，我们的性能特点和开发热管理解决方案的直流电机驱动的谐振驱动器扑翼微型飞行器。作动器是一个与扭簧并联的直流微型齿轮电机，驱动机翼往复运动。与单独的齿轮电机相比，这种设计分别将扭矩和功率密度提高了161.1%和666.8%，同时将汲取电流降低了25.8%。与非线性空气动力学载荷隔离的致动器的表征导致与其他致动器直接可比的标准度量。由于热效应，出于低重量考虑而选择的微电机在有限的持续时间内以高功率运行。为了预测系统性能，开发了集总参数热路模型。该微电机的关键模型参数，两个数量级小于以前的特点，实验确定。这包括可变绕组电阻、衬套摩擦、速度依赖性强制对流和增加阻尼器的影响。然后，该模型被用来确定一个安全的操作包线的车辆，并设计一个重量最佳的发动机。这种致动器设计和热建模方法可以更普遍地应用于提高任何微型移动机器人或具有电机驱动的振荡肢体或负载的设备的性能。
英文摘要：
In this paper, we characterize the performance of and develop thermal management solutions for a DC motor-driven resonant actuator developed for flapping wing micro air vehicles. The actuator, a DC micro-gearmotor connected in parallel with a torsional spring, drives reciprocal wing motion. Compared to the gearmotor alone, this design increased torque and power density by 161.1% and 666.8%, respectively, while decreasing the drawn current by 25.8%. Characterization of the actuator, isolated from nonlinear aerodynamic loading, results in standard metrics directly comparable to other actuators. The micro-motor, selected for low weight considerations, operates at high power for limited duration due to thermal effects. To predict system performance, a lumped parameter thermal circuit model was developed. Critical model parameters for this micro-motor, two orders of magnitude smaller than those previously characterized, were identified experimentally. This included the effects of variable winding resistance, bushing friction, speed-dependent forced convection, and the addition of a heatsink. The model was then used to determine a safe operation envelope for the vehicle and to design a weight-optimal heatsink. This actuator design and thermal modeling approach could be applied more generally to improve the performance of any miniature mobile robot or device with motor-driven oscillating limbs or loads.
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