课程详述

COURSE SPECIFICATION

以下课程信息可能根据实际授课需要或在课程检讨之后产生变动。如对课程有任何疑问，请

联系授课教师。

The course information as follows may be subject to change, either during the session because of unforeseen

circumstances, or following review of the course at the end of the session. Queries about the course should be

directed to the course instructor.

课程名称 Course Title

机器人驱动系统 Robotic Actuation System

授课院系

Originating Department

机械与能源工程系

课程编号

Course Code

ME322

课程学分 Credit Value

课程类别

Course Type

专业核心课 Major Core Courses

授课学期

Semester

秋季 Fall

授课语言

Teaching Language

中英双语 English & Chinese

授课教师、所属学系、联系方

式（如属团队授课，请列明其

他授课教师）

Instructor(s), Affiliation&

Contact

（For team teaching, please list

all instructors）

王宏强 WANG Hongqiang

实验员/助教、所属学系、联系

方式

Tutor/TA(s), Contact

待公布 To be announced

10.

选课人数限额(可不填)

Maximum Enrolment

（Optional）

11.

授课方式

Delivery Method

讲授

Lectures

习题/辅导/讨论

Tutorials

实验/实习

Lab/Practical

其它(请具体注明)

Other（Please specify）

总学时

Total

学时数

Credit Hours

12.

先修课程、其它学习要求

Pre-requisites or Other

Academic Requirements

高等数学 A下 MA102B

13.

后续课程、其它学习规划

Courses for which this course

is a pre-requisite

14.

其它要求修读本课程的学系

Cross-listing Dept.

教学大纲及教学日历 SYLLABUS

15.

教学目标 Course Objectives

机器人驱动系统是机械与能源工程系本科生的专业核心课，其他专业具备相应基础知识且对课程具有兴趣的学生可选修本

课程，本课程的先修课程为高等数学 A下。

本课程的主要任务是从机器人驱动系统的角度讲授各类机器人驱动器的基本结构、工作原理和工作特性，如传统的电磁电

机、静电驱动器、形状记忆聚合物、气动驱动器、液压驱动器、IPMC 驱动器、压电驱动器、介电弹性体驱动器；同时结

合了机器人驱动系统中至关重要的传感、控制等技术，为学生讲述一个完整的机器人驱动系统是如何组成、感知和控制；

此外，本课程还设立了与理论课教学进度一致的实验教学培养环节，以结合实际培养学生的工程能力、帮助学生理解驱动

器的原理，包括拆解电机、驱动电机、数据分析、多自由度驱动系统的设计搭建与驱动等；同时实验教学培养环节在期末

时设立了开放性的项目，鼓励学生结合课程内容进行创新，培养学生的文献检索能力、创新实践能力、科研表达的能力。

经过本课程一个学期的学习后，期望能够为学生建立对各类机器人驱动系统的基本认知，不仅在以后从事机器人、机电系

统设计等方向的工程能力有所帮助，还能够为有志于机器人驱动相关科研研究的学生奠定基础知识，尤其是提供了足够广

度的新型机器人驱动系统的前沿知识。

Robotic Actuation is a major core course for undergraduates of The Department of Mechanical and Energy Engineering.

Students with relevant basic knowledge and interest in this course could take this course. The prerequisite of this course

is Calculus II A (MA102B).

ME322 consist of 3 credits, includes, lecture: 2 credits, 2 hours per week, laboratory course: 1 credit, 2 hours per week.

Prerequisites：Calculus II A (MA102B). This course explains the primary structure, principle, and characteristics of

actuators based on different principles, such as electromagnetic motors, electrostatic actuators, shape memory

actuators, and pneumatic actuators, and the controlling methods and sensory techniques. Experimental sessions will

follow the schedule with the theory courses to cultivate the engineering ability of students and help them understand the

actuators the course better. The experiments include disassembling motors, controlling actuators and motors, designing

and constructing a multi-DOF actuation system, etc.

16.

预达学习成果 Learning Outcomes

学习本课程后，应达到如下学习成果：

1. 了解各类驱动器的基本结构

2. 了解各类驱动器的基本工作原理和工作特性

3. 掌握各类电磁电机运动的基本方程式及其推导

4. 掌握各类驱动器的分析计算方法

5. 掌握机器人驱动系统中传感与控制的原理

6. 驱动器选型的能力

7. 科研表达能力与科研创新能力

8. 资料检索与收集能力

9. 项目沟通与合作能力

Students are expected to achieve the following goals after finishing this course:

1. Understand the basic structure of different kinds of actuators

2. Understand the basic principle and working characteristics of kinds of actuators

3. Master the basic equations and derivation of kinds of electromagnetic motors

4. Master the analytical calculation methods of kinds of actuators

5. Master the principle of sensing and controlling for robotic actuation system

6. Ability of selecting the appropriate actuators

7. Ability of scientific expression and innovation

8. Ability of data retrieval and collection

9. Ability of communication and coordination

17.

课程内容及教学日历（如授课语言以英文为主，则课程内容介绍可以用英文；如团队教学或模块教学，教学日历须注

明主讲人）

Course Contents (in Parts/Chapters/Sections/Weeks. Please notify name of instructor for course section(s), if

this is a team teaching or module course.)

课程内容/ Course content

教学要求/ Teaching

requirement

学时

分配

绪论/ Introduction

 驱动器定义

 机器人与机器人系统定义

 机器人与驱动系统的组成

 各类驱动器系统的发展历程

 各类驱动器系统的应用场景

 本课程的性质、任务和主要内容

 Definition of actuators

 Definition of robot and it’s system

 The components of robots and the actuation system

 Development of different types of actuators

 Application scenario of different types of actuators

 Syllabus, including course type, assignment and main

contents of the course

了解机器人的发展史、组成结

构以及各类型驱动器的历史背

景、应用场景，了解本课程的

学习目标与主要内容。

Understand the historical

background and application

scenarios of different types of

actuators, and the learning

objectives and main contents of

this course.

电磁电机绪论/ Introduction of electromagnetic motor

 电磁电机定义

 电磁电机的分类和功能

 电磁电机中的电磁场基本理论

 Definition of motor

 Classification and function of motor

 Basic electromagnetic relations in motor

了解电磁电机的发展史、组成

结构以及各类型电磁电机的驱

动方式、功能的不同，对电磁

电机的驱动原理与构造有基本

的认识。

Understand the development

history of electromagnetic motor,

composition structure and the

different driving mode and

function of various types of

electromagnetic motor, have a

basic understanding of the driving

principle and structure of

electromagnetic motor.

直流无刷电机/ Brushless DC motor

 直流无刷电机的基本工作原理

 直流无刷电机的基本结构

 直流无刷电机的主要参数

 直流无刷电机的主要特性

 Basic working principle of brushless DC motor

 Basic structure of brushless DC motor

 Main parameters of brushless DC motor

 Key features of brushless DC motors

了解直流无刷电机的基本工作

原理、基本结构、主要参数和

主要特性，结合其在机器人驱

动系统中的实际应用进行认

识。

Understand the basic working

principle, basic structure, main

parameters, and main

characteristics of brushless DC

motor, combined with its practical

application in robotic actuation

system.

直流有刷电机/ Brush DC motor

 直流有刷电机的基本工作原理

 直流有刷电机的基本结构

 直流有刷电机的主要参数

 直流有刷电机的主要特性

 直流有刷电机的控制与输出

 直流有刷电机的应用

 Basic working principle of DC brush motor

 Basic structure of DC brush motor

 Main parameters of DC brush motor

 Key features of DC brush motors

 DC brushless motor control and output

 DC brush motor applications

了解直流有刷电机的基本工作

原理、基本结构、主要参数和

主要特性，结合其在机器人驱

动系统中的实际应用进行认

识，并重点对其驱动方式进行

学习。

Understand the basic working

principle, basic structure, main

parameters, and main

characteristics of brush DC motor,

combined with its practical

application in robotic actuation

system, then focus on the study of

its driving mode.

期中复习与测试

Mid-term review and test

考核学生对知识的掌握情况，

并帮助梳理教学内容，体现前

半学期存在的教学问题，以便

后续能更好的因材施教，并鼓

励学生学习，确保学生能够更

好的掌握知识。

Help students sort out the

teaching knowledge and assess

their mastery, reflect the teaching

problems existing in the first half

of the semester, to better teach

students according to their

aptitude in the follow-up, also

encourage students to learn,

ensure that students could absorb

knowledge well.

 综述机器人的传感器分类

 主要传感原理与方法

 Review of the categories of robotics sensing

 Principle and mechanism of primary sensing methods

The key parameters of sensors

了解机器人综述机器人的传感

器分类、理解主要传感原理与

方法、传感器的关键参数

Understand the categories of the

robotics sensing, the principle and

mechanism of primary sensing

methods

 传感器的静态特性

 传感器的动态特性

 Static characteristics of the sensors

 dynamic characteristics of the sensors

了解机器人传感的关键参数与

信号处理方法

Understand the Static

characteristics of the sensors and

dynamic characteristics of the

sensors

 静电电机的基本工作原理

 静电电机的关键设计参数

 静电电机的制造方法

 静电电机的应用场景

 Principles of electrostatic actuators

 Key design parameters of electrostatic actuators

 Fabrication of electrostatic actuators

 Application scenario of electrostatic actuators

了解静电电机的基本工作原理

及关键设计参数，熟悉静电电

机的制造方法及应用场景

Understand the basic principles of

electrostatic actuators and its key

design parameters, familiar with

the fabrication and application of

electrostatic actuators

 形状记忆合金的分类

 形状记忆合金的材料及工作原理

 形状记忆聚合物的材料及工作原理

 形状记忆合金、形状记忆聚合物的应用场景

 Classification of shape memory alloys (SMA)

 Principles and materials of shape memory alloys

 Principles and materials of shape memory polymers

(SMP)

 Application scenario of SMA and SMP

了解形状记忆合金的分类、形

状记忆合金的材料、形状记忆

聚合物的材料，熟悉形状记忆

合金、形状记忆聚合物的工作

原理及应用场景

Understand the classification and

materials of SMA and SMP,

familiar with the principles and

application scenario of SMA and

SMP

 液压、气压驱动的基本原理

 液体、气体动力学的基本概念

 液体、气体软体驱动的方式和方法

 液压、气压驱动的常用元件

 液压、气压泵的工作原理

 液压、气压驱动的适用场景

 Basic principles of hydraulic and pneumatic actuators

 Basic concepts of hydrodynamics and gas kinetics

 Common components for hydraulic and pneumatic

driving

 Principles of hydraulic pump and air pump

 Applications of hydraulic and pneumatic driving

了解液压、气压驱动的基本原

理及适用场景，熟悉液压、气

压泵的工作原理，掌握液体、

气体动力学的基本概念、掌握

液压、气压驱动的常用元件选

用方法

Understand the basic principles

and applications of hydraulic and

pneumatic driving, familiar with

the principles of hydraulic pump

and air pump, master the basic

concepts of hydrodynamics and

gas kinetics, and selection

methods for common components

of hydraulic and pneumatic

driving

 压电效应

 常见压电材料

 压电驱动器的关键参数

 压电驱动器的应用场景

 Piezoelectric effect

 Common piezoelectric materials

 Key design parameters of piezoelectric actuators

 Application scenario of piezoelectric actuators

了解常见压电材料的种类、压

电驱动器的关键参数，熟悉压

电效应的内容及压电驱动器的

应用场景

Learn about the common

piezoelectric materials, the key

design parameters of piezoelectric

actuators, familiar with the

piezoelectric effect and

application scenario of

piezoelectric actuators

 离子交换聚合金属材料驱动器的工作原理

 离子交换聚合金属材料驱动器的应用场景

 离子交换聚合金属材料驱动器的制造方法

 介电弹性体驱动器的工作原理

 介电弹性体驱动器的应用场景

 介电弹性体驱动器的制造方法

 Principles of ion-exchange polymer metal composite

(IPMC)

 Application scenario of IPMC

 Fabrication of IPMC

 Principle of dielectric elastomer actuators (DEA)

 Application scenario of DEA

 Fabrication of DEA

了解离子交换聚合金属材料驱

动器的制造方法，熟悉离子交

换聚合金属材料驱动器的工作

原理和应用场景

了解介电弹性体驱动器的制造

方法，熟悉介电弹性体驱动器

的工作原理和应用场景

Understand the fabrication of

IPMC, familiar with the principles

and application of IPMC

Understand the fabrication of

DEA, familiar with the principles

and application scenario of DEA

期末复习与测试

Final review and test

对机器人驱动系统有个整体的

了解，巩固知识，并通过问题

帮助学生融合知识，提出自己

的解决思路

Have an overall understanding of

robot drive system, consolidate

knowledge, and help students to

integrate knowledge through

questions, put forward their own

solutions

实验教学

 常见电机功能介绍与机器人研究院实验室参观

 Introduction of common actuators and visit the

laboratories of robotics research institute

了解机器人实际应用中电机的

种类和特性

Understand the types and

characteristics of actuators in the

practical application of robots.

 常见电机拆装实验

 Common actuators disassembly experiment

了解常见电机各部分的工作原

理

Understand the working principle

of common actuators’ parts.

 Arduino 舵机控制实验

 Arduino steering engine control experiment

学习使用舵机的基本原理，并

使用 PWM 对舵机进行控制

Learn the basic principle of using

steering gear, and use PWM to

control steering engine.

 闭环步进电机驱动控制实验

 Closed-loop stepper motor drive control experiment

学习闭环步进电机的具体结构

与基本控制原理，并实现闭环

步进电机的实时控制

Learn the structure and basic

control principle of closed-loop

stepping motor, and realize the

real-time control of closed-loop

stepping motor

 直流无刷电机的调试与控制

 Debug and control brushless DC motor

学习直流无刷电机的驱动板与

调试软件

Learn the drive board and

debugging software of brushless

DC motor

 三自由度移动平台综合实验

 Comprehensive experiment of 3-DOF mobile platform

学习三自由度移动平台的硬件

结构和安装，学习控制软件和

指令，实现各类运动控制

Learn the hardware structure and

installation of 3-DOF mobile

platform, learn control software

and instructions, and realize all

kinds of motion control

 软体驱动器制备实验

 Soft actuators preparation experiment

学习气动和线驱动软体机器人

驱动系统的搭建

Learn pneumatic and wire-driven

soft robotic actuation system

construction

 软体驱动器测试实验

 Soft actuators measurement experiment

学习软体机器人驱动器的驱动

原理与力学特性

earning the driving principle and

mechanical characteristics of soft

robot actuators

 静电电机驱动实验

 Experiments on electrostatic actuators

学习静电电机驱动系统的搭建

Learn the construction of

electrostatic motor drive system

 形状记忆合金与 IPMC 驱动器实验

 Experiments on shape memory alloy and IPMC

actuators

学习形状记忆合金和 IPMC 驱

动器系统的搭建

Learn shape memory alloy and

IPMC driver system construction

 适配柔性夹爪的三轴抓取平台实验

 Three-axis grasping platform experiment with flexible

gripper

学习结合柔性夹爪与三自由度

移动平台，并实现抓取

Learn the combination of flexible

gripper and 3-DOF mobile

platform, and realize grasping

 最终汇报

 Final Presentation

适配柔性夹爪的三轴抓取平台

实验汇报

Final presentation for three-axis

grasping platform with flexible

gripper

18.

教材及其它参考资料 Textbook and Supplementary Readings

《电机学（第七版）》电子工业出版社 Stephen D. Umans 著，刘新正、苏少平、高琳译

《电机学》西安交通大学出版社阎治安,苏少平,崔新艺著

课程评估 ASSESSMENT

19.

评估形式

Type of

Assessment

评估时间

Time

占考试总成绩百分比

% of final

score

违纪处罚

Penalty

备注

Notes

出勤 Attendance

每缺席一次扣除 2%，缺席

三次以上扣除全部 10%

课程项目 Projects

平时作业

Assignments

期末报告

Final

Presentation

20.

记分方式 GRADING SYSTEM

 A. 十三级等级制 Letter Grading

 B. 二级记分制（通过/不通过） Pass/Fail Grading

课程审批 REVIEW AND APPROVAL

21.

本课程设置已经过以下责任人/委员会审议通过

This Course has been approved by the following person or committee of authority