CN112051046B - High-precision motor performance measuring device - Google Patents
High-precision motor performance measuring device Download PDFInfo
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- CN112051046B CN112051046B CN202010926702.8A CN202010926702A CN112051046B CN 112051046 B CN112051046 B CN 112051046B CN 202010926702 A CN202010926702 A CN 202010926702A CN 112051046 B CN112051046 B CN 112051046B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L3/00—Measuring torque, work, mechanical power, or mechanical efficiency, in general
- G01L3/02—Rotary-transmission dynamometers
- G01L3/04—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft
- G01L3/10—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving electric or magnetic means for indicating
- G01L3/12—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving electric or magnetic means for indicating involving photoelectric means
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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Abstract
The invention discloses a high-precision motor performance measuring device which comprises a speed reducer assembly, a base, a motor assembly, a torque sensor assembly, a magnetic powder brake assembly and transmission couplers among the assemblies, wherein the speed reducer assembly is arranged on the base; the speed reducer assembly comprises a speed reducer support, an installation sleeve, a right end cover, a left bearing threaded compression ring, a right bearing threaded compression ring, a harmonic speed reducer, a left bearing seat, a left connecting shaft, a right connecting shaft, a left double-row angular contact ball bearing, a right double-row angular contact ball bearing, a left sensor end cover, a right sensor end cover, a left grating angular position sensor and a right grating angular position sensor, wherein the left grating angular position sensor and the right grating angular position sensor are installed on two sides. The invention can accurately measure parameters such as output torque characteristics of the motor and the transmission characteristics of the harmonic reducer, and has the characteristics of simple structure, convenient assembly and disassembly and easy adjustment of each part on the premise of ensuring the measurement accuracy.
Description
Technical Field
The invention relates to the field of motor performance measurement, in particular to a high-precision motor performance measuring device which is a motor performance measuring device with a harmonic reducer, and particularly relates to a motor performance measuring device and a harmonic reducer performance measuring device which are used under the requirement of high-precision detection.
Background
The motor can not be tested in detail after being assembled, and due to the limitation of the processing technology and the assembly, the performance parameters of the motor after being assembled must pass external tests, such as speed fluctuation, moment coefficient, counter potential coefficient and the like. The harmonic reducer installation can not be completed, parameters such as torque measurement at the motor end and the load end can not be used for analyzing the performance of the harmonic reducer, comprehensive measurement and analysis can be performed on the performance of the motor and the performance of the harmonic reducer through the device, the motor can be guaranteed to be tested and analyzed in detail before the motor is installed, and meanwhile, comprehensive measurement and analysis data can be obtained on the harmonic reducer.
The device can provide comprehensive and accurate measurement for performance parameters of various low-power motor equipment such as servo motors, precise small motors, high-speed motors and the like and speed reduction mechanisms, provides accurate and effective experimental data, and provides various experimental curves and the like in real time. The motor system at the initial stage of design can be subjected to simulation experiments, design defects are discovered, meanwhile, all performance indexes can be comprehensively and effectively subjected to experimental analysis, and the motor system has high academic value for high-precision motor control research.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the invention provides a high-precision motor performance measuring device aiming at the defects in the prior art, which can accurately measure parameters such as the torque characteristic of a motor and the transmission characteristic of a harmonic reducer, and has the characteristics of simple structure, convenience in disassembly and assembly and easiness in adjustment of parts on the premise of ensuring the measurement precision.
The technical scheme adopted by the invention is as follows: a high precision motor performance measurement apparatus, the apparatus comprising: the magnetic powder brake comprises a speed reducer assembly, a base, a motor assembly, a torque sensor assembly, a magnetic powder brake assembly, a first transmission coupler, a second transmission coupler and a third transmission coupler, wherein the first transmission coupler, the second transmission coupler and the third transmission coupler are arranged among the assemblies; the speed reducer assembly comprises a speed reducer support, an installation sleeve, a right end cover, a left bearing threaded compression ring, a right bearing threaded compression ring, a harmonic speed reducer, a left bearing seat, a left connecting shaft, a right connecting shaft, a left double-row angular contact ball bearing, a right double-row angular contact ball bearing, a left sensor end cover, a right sensor end cover, a left grating angular position sensor and a right grating angular position sensor, wherein the left grating angular position sensor and the right grating angular position sensor are installed on two sides of the left sensor end cover and the right sensor end cover; a motor, a harmonic reducer, a torque sensor of a torque sensor assembly and a magnetic powder brake of a magnetic powder brake assembly in the motor assembly are arranged on respective corresponding supports, and the supports are matched with a base to ensure that the upper and lower heights are consistent and the front and rear centers are aligned so as to meet the requirement of coaxial transmission; the motor element, the reduction gear subassembly, the torque sensor subassembly, the magnetic powder brake subassembly is through first transmission shaft coupling, the second transmission shaft coupling, third transmission shaft coupling from left to right installs on the base in proper order, there are spout and bolt hole on the base, the bearing mounting of each subassembly is through spout location on the base, the bolt hole is fixed, guarantee that each part is with the axle center in order to reach good transmission effect, four angles respectively have a rings on the base, conveniently carry or hoist whole device, the device can not only the accurate measurement motor output torque size, can also measure the nonlinear characteristic of harmonic speed reduction, the equipment to the high accuracy moment transmission performance of the motor of research equipment harmonic speed reduction includes industrial robot, the control moment top, important research effect has.
The left shaft of the reducer assembly is a connecting shaft of an input end, the left end of the reducer assembly is connected with a motor through a coupling, and the right end of the reducer assembly is connected with a harmonic reducer steel wheel through a bolt; the right shaft of the reducer assembly is a connecting shaft of the output end and is connected with the torque sensor through a coupler.
The grating angle position sensors are installed on two sides of the speed reducing assembly, reading heads of the left and right grating sensors are respectively fixed on a left bearing seat and a right end cover of the speed reducing assembly through screws, and circular grating ruler rotors of the left and right grating sensors are installed on a left and right bearing thread pressing ring of the speed reducing assembly through screws and respectively synchronously rotate along with a connecting shaft at a left side input end and a connecting shaft at a right side output end. The grating angular position sensor converts the rotation motion into an electric signal and outputs the electric signal to an external circuit for signal processing.
The coupling between the components can be a flexible coupling, a rigid coupling or a non-standard coupling which is machined and customized.
The left sensor protection end cover and the right sensor protection end cover of the speed reducer assembly are respectively fixed on the left bearing seat and the right end cover through bolts, and the protection effects of dust prevention and collision prevention can be achieved on the grating sensors on the left side and the right side.
The support of the speed reducer assembly, the motor assembly, the torque sensor assembly and the magnetic powder brake assembly in the device needs to ensure that the height and the position of the mounting hole are consistent during processing; the base is provided with a sliding groove and a threaded hole, so that the positioning and alignment in the axial direction and the radial direction can be realized, and the coaxiality of the whole device is further ensured.
The device can measure parameters such as torque and the like at the motor end and the load end and can comprehensively measure the performance of the harmonic reducer.
The device can be directly simplified into a device for measuring the torque characteristic of the motor by removing a speed reducer component; other types of retarder assemblies may be substituted.
The device can be directly simplified into a device for measuring the characteristics of the harmonic reducer by removing a torque sensor component.
Wherein, the magnetic powder brake subassembly among the device also can replace other automatic or manual braking structures, can practice thrift the braking time of motor greatly, shortens the interval cycle when experimental many times.
The invention has the advantages that: the device can not only accurately measure the output torque size and fluctuation of the motor, but also measure the nonlinear characteristic of harmonic deceleration, has higher test precision, and has important research reference function for researching equipment for high-precision torque transmission performance of the motor with harmonic deceleration, such as an industrial robot, a control torque gyro, a high-precision deceleration device and the like. The device has the characteristics of simple disassembly and assembly, strong exchangeability of each component and convenience in experiment.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
FIG. 1 is a schematic view of the overall assembly of one embodiment of the present invention;
FIG. 2 is a schematic illustration of a retarder assembly according to an embodiment of the present invention;
FIG. 3 is a schematic view of a base structure according to an embodiment of the present invention;
FIG. 4 is a schematic view of a bearing housing (left bearing housing as an example) according to an embodiment of the present invention;
FIG. 5 is a schematic view of a sensor end cap (taking the left sensor end cap as an example) according to an embodiment of the invention;
FIG. 6 is a schematic view of a bearing threaded pressure ring (shown as a right bearing threaded pressure ring) according to one embodiment of the present invention;
fig. 7 is a schematic view of a connecting shaft (taking the left connecting shaft as an example) of the reducer assembly according to one embodiment of the invention.
The reference numbers in the figures mean: 1 is a reducer component; 10 is a reducer support; 11 is a mounting sleeve; 12 is a right end cover; 13 is a left bearing threaded compression ring and a right bearing threaded compression ring; 13.1 is a first hole; 13.2 is a first light hole; 13.3 is an internal thread; 14 is a harmonic reducer; 15 is a left bearing seat; 15.1 is a second aperture; 15.2 is a third bore; 15.3 is flour; 15.4 is the fourth well; 15.4 is the fourth well; 15.5 is a cylindrical surface; 15.6 is a fifth well; 16 is a left connecting shaft and a right connecting shaft; 16.1 is a key groove structure; 16.2 is an external thread; 16.3 is a cylindrical surface; 16.4 is a sixth well; 17 is a left and a right double-row angular contact ball bearing; 18 are left and right sensor end caps; 18.1 is an opening; 18.2 is a central hole; 18.3 is a second light hole; 19 is left and right grating angular position sensor; 2 is a base; 2.1 is a lateral surface; 2.2 is a larger threaded hole; 2.3 is a smaller threaded hole; 3 is a motor component; 4 is a torque sensor component; 5, a magnetic powder brake component; 6 is a first transmission coupling; 7 is a second transmission coupling; and 8 is a third transmission coupling.
Detailed Description
In order to make the purpose, technical solution and advantages of the present invention more apparent, the following description of the present invention with reference to the specific embodiments and accompanying drawings is provided for clarity and completeness.
The invention relates to a high-precision motor performance measuring device which comprises a speed reducer assembly 1, a base 2, a motor assembly 3, a torque sensor assembly 4, a magnetic powder brake assembly 5, a first transmission coupler 6, a second transmission coupler 7 and a third transmission coupler 8 among the assemblies.
As shown in fig. 2, the speed reducer assembly 1 includes a speed reducer support 10, an installation sleeve 11, a right end cover 12, left and right bearing threaded compression rings 13, a harmonic speed reducer 14, a left bearing seat 15, left and right connecting shafts 16, left and right double-row angular contact ball bearings 17, left and right sensor end covers 18, and left and right grating angular position sensors 19. Reduction gear support 10 and installation sleeve 11 interference fit at first process reduction gear support 10 and installation sleeve 11 to nominal size, then will install reduction gear support 10 of 11 hot-packings in of sleeve, then carry out the finish machining to the inside shoulder hole of the bottom surface of reduction gear support 10 and installation sleeve 11 to reach the purpose with the high axiality of other subassemblies.
As shown in fig. 3, the base 2 has a groove structure, the dimensional tolerance of the width of the groove is adapted to the width of each component support, and two side surfaces 2.1 of the groove are in small clearance fit with two side surfaces of each component support to ensure the center alignment of each component and reduce the moment fluctuation. The bigger screw hole 2.2 at four angles of base is the screw hole of rings to transport and hoist in the device use. Four groups of small threaded holes 2.3 in the groove are foundation bolt holes of the component supports and play a role in fixing components on the base 2.
As shown in fig. 4, the bearing screw retainer ring 13 (taking a right bearing screw retainer ring as an example) has a function of fixing the right and left double-row angular contact ball bearings 17 and also fixing the raster angular position sensor 19 as a circular raster scale rotor. The method specifically comprises the following steps: the first holes 13.1 uniformly distributed on the circumference are threaded holes for connecting and fixing the grating ruler rotor; the four first unthreaded holes 13.2 are auxiliary mounting force-assisting holes when the threaded compression ring is screwed down; the internal thread 13.3 is matched with the external thread of the right connecting shaft 16, and the double-row angular contact ball bearing 17 is screwed and fixed on the right connecting shaft 16.
As shown in fig. 5, the left bearing seat 15 (taking the left bearing seat as an example) has both the function of mounting a bearing and the function of a stator reading head of the fixed grating angular position sensor 19. The second hole 15.1 is a fixing bolt hole of the left sensor end cover 18; the third hole 15.2 is a fixing bolt hole of a stator reading head of the grating angular position sensor 19; the surface 15.3 is an installation surface of the grating angular position sensor 19, and the installation surface is ensured to be aligned with the center of a grating angular position sensor 19 circular grating ruler rotor arranged on the left connecting shaft during processing; the fourth hole 15.4 is a threaded hole for fixing the bearing seat to the mounting sleeve 11, and the fourth hole 15.4 and the cylindrical surface 15.5 together play a role in ensuring coaxiality; the fifth hole 15.6 is a threaded hole of a cap screw, so that the left bearing seat 15 is convenient to disassemble from the mounting sleeve 11. The right end cap 12 functions substantially in accordance with the left bearing housing 15, except for the absence of a bearing.
As shown in fig. 6, the left connecting shaft (taking the left connecting shaft as an example) is an input end of the harmonic reducer 14 (the right connecting shaft is an output end of the harmonic reducer 14), and the keyway structure 16.1 can be used with a flat key for different couplers; the external thread 16.2 is matched with the bearing thread pressing ring 13 to play a role in pressing the double-row angular contact ball bearing 17; the cylindrical surface 16.3 of the connecting shaft is in small clearance fit with the harmonic reducer 14, so that the coaxiality is ensured; the sixth hole 16.4 is a threaded hole for mounting the wave generator of the harmonic reducer 14. The flexible gear of the harmonic reducer 14 is connected to the right connecting shaft, and other functions are consistent with those of the left connecting shaft.
As shown in fig. 7, the sensor end cap 18 (taking the left sensor end cap as an example) mainly protects the grating angular position sensor, and plays a role in dust separation and collision avoidance. The openings 18.1 on the two sides are reading head wire outlet holes of the grating angular position sensor; the central hole 18.2 is slightly larger than the shaft end of the connecting shaft to play a good sealing role; the second unthreaded hole 18.3 is a bolt connecting hole, and the left sensor end cover 18 is fixed to a second hole 15.1 (threaded hole) of the left bearing seat 15 through a bolt. The right sensor end cover is installed on the right end cover, and the function of the right sensor end cover is consistent with that of the left sensor end cover.
The device is suitable for detection work of various motors and speed reducers, and can be used for detecting various motors and speed reducers by only processing and manufacturing the support for fixing the motors and the speed reducers for different appearance structures of the various motors and the speed reducers. The parts to be machined and manufactured can be made of high-strength aluminum alloy or alloy steel materials.
The technical solutions of the present invention or similar technical solutions designed by those skilled in the art based on the teachings of the technical solutions of the present invention are all within the scope of the present invention.
Claims (8)
1. The utility model provides a high accuracy motor performance measuring device which characterized in that: the magnetic powder brake comprises a speed reducer assembly, a base, a motor assembly, a torque sensor assembly, a magnetic powder brake assembly, a first transmission coupler, a second transmission coupler and a third transmission coupler, wherein the first transmission coupler, the second transmission coupler and the third transmission coupler are arranged among the magnetic powder brake assembly; the speed reducer assembly comprises a speed reducer support, an installation sleeve, a right end cover, a left bearing threaded compression ring, a right bearing threaded compression ring, a harmonic speed reducer, a left bearing seat, a left connecting shaft, a right connecting shaft, a left double-row angular contact ball bearing, a right double-row angular contact ball bearing, a left sensor end cover, a right sensor end cover, a left grating angular position sensor and a right grating angular position sensor, wherein the left grating angular position sensor and the right grating angular position sensor are installed on two sides of the left sensor end cover and the right sensor end cover; a motor, a harmonic reducer, a torque sensor of a torque sensor assembly and a magnetic powder brake of a magnetic powder brake assembly in the motor assembly are arranged on respective corresponding supports, and the supports are matched with a base to ensure that the upper and lower heights are consistent and the front and rear centers are aligned so as to meet the requirement of coaxial transmission; grating angular position sensors are arranged on two sides of the speed reducing assembly, reading heads of the left and right grating sensors are respectively fixed on a left bearing seat and a right end cover of the speed reducing assembly through screws, circular grating ruler rotors of the left and right grating sensors are arranged on a left and right bearing threaded pressure rings of the speed reducing assembly through screws and respectively synchronously rotate along with a connecting shaft at a left input end and a connecting shaft at a right output end, the grating angular position sensors convert rotary motion into electric signals and output an external circuit for signal processing, a motor assembly, the speed reducing assembly, a torque sensor assembly and a magnetic powder brake assembly are sequentially arranged on the base from left to right through a first transmission coupling, a second transmission coupling and a third transmission coupling, a sliding groove and a bolt hole are arranged on the base, a support of each assembly is arranged on the base through sliding groove positioning and bolt hole fixing, and the coaxiality of each assembly is ensured to achieve good transmission effect, the base is of a groove structure, the width dimensional tolerance of the groove is matched with the width of each component support, and two side surfaces of the groove are in small clearance fit with two side surfaces of each component support;
bearing screw clamping ring (13) have about fixed double column angular contact ball bearing (17), have the effect of fixed grating angle position sensor (19) circle bars chi rotor again, specifically do: first holes (13.1) uniformly distributed on the circumference are threaded holes for connecting and fixing the grating ruler rotor; the four first unthreaded holes (13.2) are auxiliary mounting force-assisting holes when the threaded compression ring is screwed down; the internal thread (13.3) is matched with the external thread of the right connecting shaft (16), and the double-row angular contact ball bearing (17) is screwed and fixed on the right connecting shaft (16);
the left bearing seat (15) has the functions of mounting a bearing and fixing a stator reading head of the grating angle position sensor (19), and the second hole (15.1) is a fixing bolt hole of a left sensor end cover (18); the third hole (15.2) is a fixing bolt hole of a stator reading head of the grating angular position sensor (19); the surface (15.3) is an installation surface of the grating angular position sensor (19), and the installation surface is aligned with the center of a circular grating ruler rotor of the grating angular position sensor (19) installed on the left connecting shaft during machining; the fourth hole (15.4) is a threaded hole for fixing the bearing seat to the mounting sleeve (11), and the fourth hole (15.4) and the cylindrical surface (15.5) jointly play a role in ensuring the coaxiality; the fifth hole (15.6) is a threaded hole of a cover-opening screw, so that the left bearing seat (15) can be conveniently detached from the mounting sleeve (11);
the left connecting shaft is the input end of the harmonic reducer (14), the right connecting shaft is the output end of the harmonic reducer (14), and the key groove structure (16.1) can be matched with flat keys for different couplers; the external thread (16.2) is matched with the bearing thread pressure ring (13) to play a role in pressing the double-row angular contact ball bearing (17); the cylindrical surface (16.3) of the connecting shaft is in small clearance fit with the harmonic reducer (14) to play a role in ensuring the coaxiality; the sixth hole (16.4) is a threaded hole for installing a wave generator of the harmonic reducer (14), the right connecting shaft is connected with a flexible gear of the harmonic reducer (14), and other functions are consistent with those of the left connecting shaft;
the sensor end cover (18) is a sensor for protecting the grating angular position, and plays a role in dust isolation and collision prevention; the openings (18.1) on the two sides are reading head wire outlet holes of the grating angular position sensor; the central hole (18.2) is slightly larger than the shaft end of the connecting shaft to play a good sealing role; the second unthreaded hole (18.3) is a bolt connecting hole, and the left sensor end cover (18) is fixed to the second hole (15.1) of the left bearing seat (15) through a bolt.
2. A high-precision motor performance measuring apparatus according to claim 1, characterized in that: the left shaft of the reducer assembly is a connecting shaft of an input end, the left end of the reducer assembly is connected with the motor through a coupler, and the right end of the reducer assembly is connected with a harmonic reducer steel wheel through a bolt; the right shaft of the speed reducer assembly is a connecting shaft of an output end and is connected with the torque sensor through a coupler.
3. A high-precision motor performance measuring apparatus according to claim 1, characterized in that: the couplings between the components can be flexible couplings, or rigid couplings, or off-standard couplings that are machined and customized.
4. A high-precision motor performance measuring apparatus according to claim 1, characterized in that: the left sensor protection end cover and the right sensor protection end cover of the speed reducer assembly are respectively fixed on the left bearing seat and the right end cover through bolts, and the dustproof and anti-collision protection effect on the grating sensors on the left side and the right side can be achieved.
5. A high-precision motor performance measuring apparatus according to claim 1, characterized in that: the support of the reducer assembly, the motor assembly, the torque sensor assembly and the magnetic powder brake assembly in the device needs to ensure the consistent height and position of the mounting hole during processing; the base is provided with a sliding groove and a threaded hole, so that the positioning and alignment in the axial direction and the radial direction can be realized, and the coaxiality of the whole device is further ensured.
6. A high precision motor performance measuring apparatus according to any one of claims 1 to 5, characterized in that: the device can be directly simplified into a device for measuring the torque characteristic of the motor by removing a speed reducer component; other types of retarder assemblies may be substituted.
7. A high precision motor performance measuring apparatus according to any one of claims 1 to 5, characterized in that: the device removes a torque sensor component and can be directly simplified into a device for measuring the characteristics of the harmonic reducer.
8. A high precision motor performance measuring apparatus according to any one of claims 1 to 5, characterized in that: the magnetic particle brake assembly in the device can also be replaced by other automatic or manual brake structures.
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| CN112051046B (en) * | 2020-09-07 | 2022-08-26 | 北京航空航天大学 | High-precision motor performance measuring device |
| CN112798139A (en) * | 2020-12-23 | 2021-05-14 | 成都伊莱特光测科技有限公司 | Hydroelectric set axle bush temperature detection optical fiber sensor |
| CN113108026B (en) * | 2021-04-13 | 2024-05-07 | 中国科学院上海技术物理研究所 | Driving assembly for intermittent motion mechanism |
| CN113124904B (en) * | 2021-04-25 | 2023-09-08 | 重庆理工大学 | Moment gyro recovery moment test bed and measuring method |
| CN113839536B (en) * | 2021-09-14 | 2023-12-05 | 哈尔滨电气动力装备有限公司 | Method for installing and detaching electromagnetic bearing and combined tool thereof |
| CN113865861B (en) * | 2021-09-26 | 2024-01-26 | 华中农业大学 | High-precision robot joint reducer comprehensive performance test device and assembly method thereof |
| CN114544169A (en) * | 2022-03-03 | 2022-05-27 | 江苏开璇智能科技有限公司 | Rigidity test workbench for harmonic speed reduction module |
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| CN204359474U (en) * | 2014-12-31 | 2015-05-27 | 西安微电机研究所 | Electric rotating machine gullet positioning torque proving installation |
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| CN108204894A (en) * | 2017-11-03 | 2018-06-26 | 工业和信息化部计算机与微电子发展研究中心（中国软件评测中心） | A kind of harmonic speed reducer test platform for comprehensive performance based on dual-servo-motor loading |
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| CN109406141A (en) * | 2018-10-23 | 2019-03-01 | 成都安亨达信息技术咨询有限公司 | A kind of harmonic speed reducer precision measurer hardware system |
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