機器(qi)人(ren)驅動(dong)(dong)(dong)(dong)(dong)(dong)裝(zhuang)置(zhi)，概念(nian)：要(yao)使(shi)機器(qi)人(ren)運行起(qi)(qi)來(lai)， 需給各(ge)個(ge)關(guan)節即每個(ge)運動(dong)(dong)(dong)(dong)(dong)(dong)自由度安置(zhi)傳動(dong)(dong)(dong)(dong)(dong)(dong)裝(zhuang)置(zhi) 作(zuo)用：提(ti)供機器(qi)人(ren)各(ge)部位、各(ge)關(guan)節動(dong)(dong)(dong)(dong)(dong)(dong)作(zuo)的原動(dong)(dong)(dong)(dong)(dong)(dong)力。驅動(dong)(dong)(dong)(dong)(dong)(dong)系統(tong)：可以是(shi)液壓傳動(dong)(dong)(dong)(dong)(dong)(dong)、氣動(dong)(dong)(dong)(dong)(dong)(dong)傳動(dong)(dong)(dong)(dong)(dong)(dong)、電動(dong)(dong)(dong)(dong)(dong)(dong)傳動(dong)(dong)(dong)(dong)(dong)(dong)， 或(huo)者把它(ta)們結合起(qi)(qi)來(lai)應用的綜合系統(tong); 可以是(shi)直接(jie)驅動(dong)(dong)(dong)(dong)(dong)(dong)或(huo)者是(shi)通過同(tong)步帶、鏈條(tiao)、輪(lun)系、諧波齒輪(lun)等機械傳動(dong)(dong)(dong)(dong)(dong)(dong)機構進行間接(jie)驅動(dong)(dong)(dong)(dong)(dong)(dong)。電動(dong)(dong)(dong)(dong)(dong)(dong)驅動(dong)(dong)(dong)(dong)(dong)(dong)裝(zhuang)置(zhi)的能源簡(jian)單，速(su)度變化(hua)范(fan)圍大，速(su)度和位置(zhi)精度都很高。但(dan)它(ta)們多與減速(su)裝(zhuang)置(zhi)相聯，沈陽機器(qi)人(ren)主(zhu)板，直接(jie)驅動(dong)(dong)(dong)(dong)(dong)(dong)比(bi)較(jiao)困難。

如果(guo)負載太(tai)大，加減(jian)速所(suo)需(xu)的(de)(de)轉(zhuan)矩就會超過電機(ji)的(de)(de)容量(liang)。檢查(cha)控(kong)制(zhi)器(qi)(qi)(qi)輸(shu)入電壓是否(fou)在額定電壓范(fan)圍內，無缺(que)相。另外，檢查(cha)變壓器(qi)(qi)(qi)的(de)(de)設置是否(fou)正確。機(ji)器(qi)(qi)(qi)人示教器(qi)(qi)(qi)維(wei)修檢查(cha)輸(shu)入伺(si)服(fu)放(fang)大器(qi)(qi)(qi)的(de)(de)三相電源連接器(qi)(qi)(qi)的(de)(de)各相電壓。檢查(cha)線路電壓。如果(guo)伺(si)服(fu)放(fang)大器(qi)(qi)(qi)的(de)(de)輸(shu)入電壓變低(di)，輸(shu)出轉(zhuan)矩也變低(di)。因(yin)此(ci)，電機(ji)可(ke)(ke)能(neng)無法執行(xing)命令，從而(er)可(ke)(ke)能(neng)引起警(jing)報(bao)。更(geng)換伺(si)服(fu)放(fang)大器(qi)(qi)(qi)。更(geng)換報(bao)警(jing)軸電機(ji)。

ABB機(ji)器(qi)(qi)(qi)人(ren)主板(ban)故障現象(xiang)時(shi)好(hao)時(shi)壞的(de)維修(xiu)方法總結:3.元器(qi)(qi)(qi)件熱(re)(re)(re)穩定性不(bu)好(hao) ? 從大量的(de)維修(xiu)實(shi)踐來看，其(qi)中首推電(dian)解電(dian)容的(de)熱(re)(re)(re)穩定性不(bu)好(hao)，機(ji)器(qi)(qi)(qi)人(ren)主板(ban)檢(jian)測(ce)，其(qi)次是(shi)其(qi)它電(dian)容、三極(ji)管(guan)、二極(ji)管(guan)、IC、電(dian) 阻等；? 4.電(dian)路板(ban)上有(you)(you)(you)濕氣(qi)、積塵等。濕氣(qi)和積塵會(hui)導電(dian)，機(ji)器(qi)(qi)(qi)人(ren)主板(ban)工(gong)廠(chang)，具有(you)(you)(you)電(dian)阻效(xiao)應，而且(qie)在熱(re)(re)(re)脹冷縮的(de)過程中阻值(zhi)還會(hui)變化，機(ji)器(qi)(qi)(qi)人(ren)主板(ban)維修(xiu)， 這(zhe)個電(dian)阻值(zhi)會(hui)同其(qi)它元件有(you)(you)(you)并聯(lian)效(xiao)果，這(zhe)個效(xiao)果比較強時(shi)就會(hui)改變電(dian)路參數，使故障發生；