Research on EMC based on High Power Robot Joint Servo Motor Controller In the robot industry, the robot joint motor often plays the key role of instantaneous output high power and high torque. In the process of high power and large torque output, the support of large current output of the controller is needed. The electromagnetic environment is quite complex in such a working state. How to ensure the reliable operation of the controller in the harsh electromagnetic environment becomes an inevitable problem to be considered. This article first introduced the controller to enhance the electromagnetic compatibility of the relevant principle and applied to practice. And then through test motor controller components under the working conditions of the electromagnetic behavior summarized the electromagnetic properties of different function modules. According to the different electromagnetic characteristics, an optimization strategy is adopted to isolate the partition and decouple the inplace. Finally through the experiment compares the differences between similar controller of electromagnetic compatibility is verified the effectiveness of the proposed scheme improve the electromagnetic compatibility. Technical support is provided for the complex electromagnetic conditions of multiple large torque joint motors simultaneously served by multiple controllers.

An Integrated Joint for Cooperative Robots This paper proposes a highpower density integrated joint for the novel cooperative robots. The design trends to be a more compact mechatronical integrated joint with high reliability and accuracy. To achieve this, the main components inside the joint are a harmonic drive, a permanent magnet torque motor, an incremental encoder, a single turn absolute encoder, a brake and a servo drive. This combination of components inside the joints leads to lower weight and smaller outer envelope size. The entirety of the motor shaft and harmonic drive cam can reduce the axial length of the joint. The wires arranged inside the hollow shafts is the critical way to achieve the mechatronical joints. Double encoders configuration inside the joint (incremental encoder feedbacks the motor position and single turn absolute encoder feedbacks the joint position) will achieve the absolute position accuracy less than 0.05mm. Finally, a simulation result is shown to verify the reliability of the designed joint.