In a robot system, why can't we directly control the servo motor rotor speed to control the joint movement, why do we need areducer?
To answer this question, we must first clarify the working conditions of the joints of industrial robots:
1. The joints of industrial robots need to hold the torque generated by the back-end mechanism due to gravity.
2. Industrial robot joint speed is not high. The angular velocity of the robot joint is very low, and the motor can not rotate smoothly at a very low speed. The control is not easy, and a mechanism is needed to allow the motor to move at a reasonable speed to ensure smooth movement.
There are two reasons for using a reducer. The first is to increase the torque, and the second is to provide control resolution and closed-loop accuracy.