New Energy Buffer for Highly Integrated T-joint Module Drive in Cooperative Robots

Abstract

Highly integrated T-joint modules are used in cooperative robots. The miniaturized module driver is built in the joint, and the bus capacitance is small. Emergency braking of one joint makes the bus voltage fluctuate, which affects the operation of other joint modules of common DC bus. Therefore, this paper solves the problem from the perspective of pure hardware, and proposes a new energy buffer for highly integrated T-joint module drive in cooperative robots. The new energy buffer is characterized in that the voltage of the capacitor in the buffer is designed in the form of large ripples, which allows most of the fluctuating energy to be stored in the energy buffer, reducing the voltage fluctuation of DC bus. The new proposed energy buffer can reduce the voltage fluctuation of DC bus with low cost and low space occupation, which is conducive to the popularization of miniaturization of highly integrated T-joint modules.