協作型機器人之伺服馬達發展趨勢

未來全球每年至少會有50萬台的工業機器人裝置量，具備人機協作等智慧化功能是主要趨勢。協作型機器人有易於安裝和編程的特點，且由於資通訊技術的進步，很有機會讓其得以大量地被應用到智慧製造的部署中。伺服馬達、減速機、控制器、驅動器都是機器人中的主要零組件，它們都屬於機器人中的動力系統。從發展的歷史與市場的規模來看，工業機器人裡所用的伺服馬達已經是一個技術非常成熟的產品，儘管目前仍不斷在演化與進步，但是基本上都是針對所屬的應用進行技術優化與整合。本文將探討協作型機器人裡的伺服馬達及其發展趨勢：1.馬達資訊可視化。2.直流無刷馬達（Brushless DC Motor）與驅動器的標準化。3.伺服馬達的直接轉矩控制。4.節能化。

關鍵字

協作型機器人；伺服馬達；直接轉矩控制

並列摘要

In the future, there will be at least 500,000 industrial robots being installed every year in the world, and the main trend is to have intelligent functions such as human-machine collaboration. Collaborative robots (Cobots) are easy to install and program, and thanks to advances in information and communication technology (ICT), they can be seamlessly connected and integrated into smart manufacturing deployments. Servo motors, reducers, controllers, and drives are the main components in the robot, and they all belong to the power system in the robot. From the perspective of development history and market size, the servo motor used in industrial robots is already a product with very mature technology. Although it is still evolving and improving, it is basically technical optimization and integration for its application. This article will discuss the servo motors in collaborative robots and their development trends: 1. Visualization of motor information. 2. Standardization of Brushless DC (BLDC) motors and drivers. 3. Direct torque control of AC servo motor. 4. Energy saving.