本发明公开了一种单自由度关节臂运动试验台，包括伺服驱动系统、减速箱、电机底座、轴套式编码器、传动轴、关节臂、铝型材底座。本发明的实验对象为减速箱和伺服系统，当减速箱机械性能退化时，在实验台上可通过采集系统采集出轴套式编码器脉冲信号和伺服电机内置编码器脉冲信号，使用电脑分析软件计算出减速机输出精度以及长期运行导致的误差；还可通过RS485协议与伺服驱动器进行通讯，实时读取伺服电机运行时其三项电流信号、转速信号、转矩信号等，检测伺服电机的运行状态。

The invention discloses a single-degree-of-freedom joint arm motion test bed, which comprises a servo drive system, a reduction gearbox, a motor base, a shaft sleeve encoder, a transmission shaft, a joint arm and an aluminum profile base. The experimental objects of the invention are the reducer and the servo system. When the mechanical performance of the reducer deteriorates, the pulse signal of the shaft sleeve encoder and the pulse signal of the built-in encoder of the servo motor can be collected by the collection system on the experimental bench, and the output precision of the reducer and the error caused by long-term operation can be calculated by using computer analysis software. It can also communicate with servo driver through RS485 protocol, read three current signals, rotation speed signals and torque signals of servo motor in real time, and detect the running state of servo motor.