Gear servo motor with output shaft torque measurement function - Uniservo
Gear servo motor with output shaft torque measurement function - Uniservo
Robot actuator incorporating torque servo functionality.
Uniservo (a geared servo motor with output shaft torque measurement function) is the first robot actuator that incorporates the functionality of a torque servo. It allows for arbitrary increase or decrease of the output shaft torque, as well as detection of the torque applied to the output shaft, enabling specification of torque adjustments and rotation angles on the motor side. Gear ratios of 1/100 and 1/50 are selectable, with rated capacities of 15, 40, 80, 200, and 750 watts. Models with capacities over 80 watts also include a brake and a multi-turn absolute encoder designed for robotics (80R, 200R, 750R). Uniservo controls low-cogging motors at a cycle of 20KHz, achieving stabilization through advanced automatic control technology (patent pending). Controllers that can connect to open networks such as CC-Link are also available. Additionally, Uniservo can generate specified torque as well as friction and inertia, making it applicable to various loads, testing devices, and simulators that mimic human actions.
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basic information
■What can be done with the Uniservo (geared servo motor with output shaft torque measurement function) Zero torque control, tension control, compliance control, pressing control, torque control, bilateral control, impedance control, reproduction of tactile sensation. ■Features of the Uniservo (geared servo motor with output shaft torque measurement function) It measures the torque of the output shaft and performs feedback control to achieve the target torque. By controlling the output torque through a high reduction gear ratio of 1:50 or 1:100, the inertia moment of the motor rotor is equivalent to 1/2500 or 1/10000 when converted to output. A small inertia moment means good responsiveness. This has enabled applications such as the transmission of force sensation. The ability to freely control output torque has made various torque control possible. The rated capacities include five models: 15W, 40W, 80W, 200W, and 750W. Related keywords: Direct teaching, back drivability, haptics, pressing, virtual load, virtual inertia, virtual clone friction, virtual pendulum, tactile sensation.
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Applications/Examples of results
■Gear Servo Motor "Uniservo" with Output Shaft Torque Measurement Function Applications - Testing of Motors with Gear Reducers The Uniservo has a built-in high-precision torque meter, allowing for easy construction of motor testing equipment. It can be configured simply by directly connecting to the output shaft of the motor under test, enabling various modes of testing despite having an extremely small footprint. Friction and inertia as loads can be virtually set freely. - Replacement of Pneumatic and Hydraulic Actuators Replacing pneumatic and hydraulic actuators has been difficult with conventional motors due to challenges in torque control. With the Uniservo, it is possible to reproduce movements similar to those of pneumatic and hydraulic actuators. The entire system can be configured compactly, significantly improving maintenance, which is a common issue with pneumatic and hydraulic systems. - Tension Control Tension control has been challenging because the measurement point for tension and the position of the servo motor generating the tension are often far apart. The Uniservo improves control stability by allowing torque generation and measurement at the same location, and by virtually adding friction and viscosity, enabling tension control under a wide range of conditions.
Detailed information
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Test machine for motors with gear reducers The Uniservo is equipped with a high-precision torque meter, making it easy to construct a motor test machine. The configuration simply involves directly connecting the output shaft of the test motor to the Uniservo, allowing for various modes of testing despite the very small footprint. By using the Uniservo, you can virtually and freely set friction and moment of inertia as loads.
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Replacement of Pneumatic and Hydraulic Actuators Replacing pneumatic and hydraulic actuators used for force control has been difficult with conventional motors due to the challenges of torque control. By using a Uniservo, it is possible to reproduce movements similar to those of pneumatic and hydraulic actuators. This eliminates the need for air compressors and hydraulic pumps, allowing the entire system to be configured more compactly. Additionally, the maintainability issues associated with pneumatic and hydraulic systems are significantly improved.
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Tension Control Traditionally, tension control was performed using a load cell to measure tension while controlling with a servo motor or brake. However, it was sometimes difficult to control because the measurement point for tension and the position of the servo motor generating the tension were far apart. With Uniservo, torque generation and measurement can be performed at the same location, and friction and viscosity can be virtually added, which improves control stability and enables tension control under a wide range of conditions.
Line up（9）
| Model number | overview |
|---|---|
| UNISERVO SVM-15 | Geared servo motor with output shaft torque measurement function 15W |
| UNISERVO SVM-40 | Geared servo motor with output shaft torque measurement function 40W |
| UNISERVO SVM-80 | Geared servo motor with output shaft torque measurement function 80W |
| UNISERVO SVM-200 | Geared servo motor with output shaft torque measurement function 200W |
| UNISERVO SVM-750 | Geared servo motor with output shaft torque measurement function 750W |
| UNISERVO SVC-15 | Dedicated controller for geared servo motor with output shaft torque measurement function 15W |
| UNISERVO SVC-80 | Dedicated controller for geared servo motor with output shaft torque measurement function 80W (also usable for 40W motor) |
| UNISERVO SVC-200 | Dedicated controller for geared servo motor with output shaft torque measurement function 200W |
| UNISERVO SVC-750 | Dedicated controller for geared servo motor with output shaft torque measurement function 750W |
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Company information
Unipulse Corporation is a sensor manufacturer. We develop a wide range of products using various technologies, including digital indicators for optimal load application in press-fitting and crimping, capacitive non-contact displacement meters, spindle clamping force measuring devices, small-diameter tool gripping force gauges, and rotating torque meters. In particular, the UTM series of rotating torque meters has become the standard for shaft-type torque measurement and is used in many development and manufacturing sites. In recent years, we have internalized the production of strain gauges and are manufacturing load cells and multi-force gauges in-house. Our subsidiary, Robotech, develops and sells products such as Uniservo (electric torque actuators) and Moonlifter (electric balancers). Notably, the electric balancer, which constantly detects force and position using load sensors and servo motors, allows for the movement of heavy objects with the sensitivity of human hands. We have received much positive feedback due to its unprecedented ease of use. Moving forward, the Unipulse Group will continue to prioritize research and development, delivering products that are first in Japan and the world.