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GB/T 43200-2023: Performance and related test methods of mechatronic joints for robots
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Performance and related test methods of mechatronic joints for robots
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GB/T 43200-2023
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Basic data | Standard ID | GB/T 43200-2023 (GB/T43200-2023) | | Description (Translated English) | Performance and related test methods of mechatronic joints for robots | | Sector / Industry | National Standard (Recommended) | | Classification of Chinese Standard | J28 | | Classification of International Standard | 25.040.30 | | Word Count Estimation | 22,271 | | Date of Issue | 2023-09-07 | | Date of Implementation | 2024-04-01 | | Issuing agency(ies) | State Administration for Market Regulation, China National Standardization Administration | GB/T 43200-2023: Performance and related test methods of mechatronic joints for robots---This is a DRAFT version for illustration, not a final translation. Full copy of true-PDF in English version (including equations, symbols, images, flow-chart, tables, and figures etc.) will be manually/carefully translated upon your order.
ICS 25.040.30
CCSJ28
National Standards of People's Republic of China
Robot integrated joint performance and test methods
Published on 2023-09-07
2024-04-01 Implementation
State Administration for Market Regulation
Released by the National Standardization Administration Committee
Table of contents
Preface III
1 Scope 1
2 Normative reference documents 1
3 Terms and Definitions 1
4 Performance 3
5 Test method 4
5.1 Test environment 4
5.2 Test equipment 4
5.3 Test device 5
5.4 Mechanical performance test 5
5.5 Electrical performance test 7
5.6 Control performance test 9
5.7 Other performance tests 14
Appendix A (informative) Joint composition example 16
Reference 17
Foreword
This document complies with the provisions of GB/T 1.1-2020 "Standardization Work Guidelines Part 1.Structure and Drafting Rules of Standardization Documents"
Drafting.
Please note that some content in this document may be subject to patents. The publisher of this document assumes no responsibility for identifying patents.
This document is proposed by China Machinery Industry Federation.
This document is under the jurisdiction of the National Robot Standardization Technical Committee (SAC/TC591).
This document was drafted by. Zhijiang Laboratory, Beijing Machinery Industry Automation Research Institute Co., Ltd., Suzhou Green Harmonic Transmission Technology Co., Ltd.
Co., Ltd., Zhejiang University, Jieka Robot Co., Ltd., Shenzhen Yuejiang Technology Co., Ltd., Qingneng Dechuang Electric Technology (Beijing)
Beijing) Co., Ltd., Hangzhou Yunshen Technology Co., Ltd., Midea Group Co., Ltd., Shanghai Electrical Equipment Testing Institute Co., Ltd., Shanghai
Feixi Robot Technology Co., Ltd., Aobo (Beijing) Intelligent Technology Co., Ltd., Shenzhen Lidian Cloud Control Technology Co., Ltd., Hangzhou Shen
Hao Technology Co., Ltd., Jiangsu Kaixuan Intelligent Technology Co., Ltd., Zhejiang Institute of Metrology, China Jiliang University, Capital Normal University
Xue, Chengdu Ruidi Intelligent Drive Technology Co., Ltd., Shanghai Shanggong Robot Technology Co., Ltd., Shenzhen Tongchuan Technology Co., Ltd., Zhejiang Environmental Protection Technology Co., Ltd.
Mobile Robot Joint Technology Co., Ltd., Chongqing Kairui Robot Technology Co., Ltd., KUKA Robot (Guangdong) Co., Ltd., Zhejiang Qiantang Machinery
Robotics and Intelligent Equipment Research Co., Ltd.
The main drafters of this document. Zhu Shiqiang, Xie Anhuan, Hua Qiang, Chu Jianhua, Huang Xiaoyan, Wang Jian, Xu Xiong, Liu Peichao, Yang Shuping, Li Chao, Chen Wenjie,
Zhang Lei, Wang Shiquan, Zhu Zhikun, Jia Xiqing, Kong Lingyu, Wu Haiteng, Li Jian, Chen Yuanjie, Wang Binrui, Shao Zhenzhou, Li Xing, Zhao Yong, Shen Xiaolong, Shao Wei,
Wu Wenjing, Zhou Weigang, Qiao Bo, Yin Ruiduo, Zhang Jing, Li Benwang, Li Jiantao, Chen Xiao.
Robot integrated joint performance and test methods
1 Scope
This document specifies the performance of robot integrated joints (hereinafter referred to as joints) and describes test methods.
This document is applicable to collaborative robots and leg-footed robot joints, and other robot joints shall be implemented as a reference.
2 Normative reference documents
The contents of the following documents constitute essential provisions of this document through normative references in the text. Among them, the dated quotations
For undated referenced documents, only the version corresponding to that date applies to this document; for undated referenced documents, the latest version (including all amendments) applies to
this document.
GB/T 10069.1-2006 Determination methods and limits of noise of rotating electrical machines Part 1.Determination methods of noise of rotating electrical machines
GB/T 16439-2009 General technical conditions for AC servo systems
GB/T 35089-2018 Test methods for precision gear transmission devices for robots
GB/T 39266-2020 Mechanical environmental reliability requirements and test methods for industrial robots
3 Terms and definitions
The following terms and definitions apply to this document.
3.1
Integrated joint mechatronicjoint
A drive module with independent functions composed of motor, reducer, encoder, driver, etc.
[Source. GB/T 38560-2020, 3.2, with modifications]
3.2
reverse starting torque backdrivingtorque
When the joint is under non-braking and power-off conditions, slowly twist the output end of the joint to the torque required for the moment the motor in the joint starts.
[Source. GB/T 35089-2018, 3.3, with modifications]
3.3
allowable moment load allowablemomentload
When the joint is working normally, the maximum value of the torque vector sum of the radial load and the eccentric axial load that the output end bears.
[Source. GB/T 37718-2019, 3.14, with modifications]
3.4
The maximum load torque allowed at the output end during normal starting or stopping of the joint.
[Source. GB/T 36491-2018, 3.1, with modifications]
3.5
moment of inertia jointinertia
The moment of inertia of the rotor relative to the center of rotation of the shaft.
Note. Including the moment of inertia of the rotating part of the motor, reducer, encoder, etc. in the joint.
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