GB/T 43200-2023Performance and related test methods of mechatronic joints for robots (English PDF)

1 Scope

GB/T 43200-2023 specifies the performance of integrated mechatronic joints for robots and the methods of testing it. The modular joint - motor, harmonic or cycloidal reducer, brake, encoders and drive electronics in one housing - is what made collaborative and legged robots buildable by companies that are not motion control specialists, and it is bought as a component, so its torque, backlash, stiffness, backdrivability and thermal behaviour have to be comparable between suppliers. The standard sets the performance characteristics and then the test methods: the test environment, equipment and fixtures, and the mechanical, electrical, control and other performance tests, with an informative annex giving examples of joint compositions. It applies to the joints of collaborative and legged robots and took effect on 1 April 2024.

This document specifies the performance of mechatronic joints (hereinafter referred to as joints) for robots and describe the related test methods. This document applies to the joints of collaborative robots and legged robots; other robot joints shall refer to this document for guidance.

2 Normative references

The following documents, in whole or in part, are normatively referenced in this document and are indispensable for its application. For dated references, only the edition cited applies. For undated references, the latest edition of the referenced document (including any amendments) applies.

GB/T 10069.1-2006, Measurement of airborne noise emitted by rotating electrical machines and the noise limits - Part

1.Method for the measurement of airborne noise emitted by rotating electrical machines

GB/T 16439-2009, General specification for AC servo system

GB/T 35089-2018, Precision gear transmission for robot - Test method

GB/T 39266-2020, Mechanical environment reliability requirements and test methods for industrial robots

3 Terms and definitions

For the purposes of this document, the following terms and definitions apply.

3.1 mechatronic joint A drive module with independent functions, consisting of motor, reducer, encoder, driver, etc. [Source: GB/T 38560-2020, 3.2, modified] The ratio of the difference between the maximum and minimum instantaneous torque of the joint to the sum of the maximum and minimum instantaneous torque of the joint when the joint is running in steady state under constant load. [Source: GB/T 16439-2009, 3.10, modified]

4 Performance

The joint's performance is as follows, and its performance shall meet the requirements of the product standard.

a) Mechanical performance. 1) Backdriving torque; 2) Allowable moment load; 3) Allowable torque during acceleration or deceleration; 4) Joint inertia; 5) Mechanical stiffness; 6) Backlash; 7) Static servo stiffness; 8) Static rated braking torque; 9) Dynamic rated braking torque; 10) Safety torque off.

b) Electrical performance. 1) Rated power; 2) Rated speed; 3) Rated torque; 4) Efficiency; 5) Maximum permitted speed; 6) Instantaneous maximum torque; 7) Torque constant; 8) Torque density; 9) Power density.

c) Control performance. 1) Absolute positioning accuracy; 2) Repetitive positioning accuracy; 3) Torque control accuracy; 4) Position response time of a positive step input; 5) Position response time of a negative step input; 6) Speed response time of a positive step input; 7) Speed response time of a negative step input; 8) Torque response time of a positive step input; 9) Torque response time of a negative step input; 10) Location bandwidth; 11) Speed bandwidth; 12) Torque bandwidth; 13) Range of rotation angle; 14) Speed ripple coefficient; 15) Torque ripple coefficient.

d) Other performance. 1) Vibration; 2) Impact; 3) Noise.

5 Test methods

5.1 Test environment Unless otherwise specified, all tests shall be conducted under the following conditions. -- Temperature. 15 °C ~ 35 °C; -- Relative humidity. 25% ~ 75%; -- Atmospheric pressure. 86 kPa ~ 106 kPa.