Status and prospects of domestic and international research on robot actuator testing technology

Abstract

Joints are the core components of robotic posture control, and their performance has a direct impact on the overall performance of robots. Joint testing and evaluation are important foundations for improving joint performance. In this work, we analyze the current state of joint technology from the perspectives of application scenarios, working principles, and structural design and summarize the testing principles and methods for joint transmission accuracy and response, mechanical, and electrical parameters. Furthermore, we analyze the current state of joint testing equipment as a whole and elaborate in detail on the two types of testing equipment oriented to large and small joints. On the basis of the above work, we analyze and discuss the difficulties in joint testing technology and look forward to its future development.