基于虚拟样机的挖掘机器人液压缸内摩擦力确定方法研究  

Research on determination method of inner frictional force of hydraulic cylinder based on virtual prototype of excavation robot

作　　者：刘静[1] 甘屹[1] 潘双夏[2] 

机构地区：[1]上海理工大学机械工程学院,上海200093 [2]浙江大学流体传动与控制国家重点实验室,浙江杭州310027

出　　处：《机械设计》2008年第8期30-32,共3页Journal of Machine Design

基　　金：国家“863”计划资助项目(2001AA422130);上海市高校选拔培养优秀青年教师科研专向基金资助项目(354103);国家自然科学基金资助项目(50505030);上海市“曙光”计划资助项目(07SG51);上海市教委重点学科资助项目(J50503)

摘　　要：在对挖掘机器人液压缸摩擦力进行分析的基础上,提出利用挖掘机器人虚拟样机计算液压缸摩擦力的方法。根据实验数据和虚拟样机的静力学和逆动力学计算,得到挖掘机器人3组油缸在不同运动状态下的摩擦力曲线,确定摩擦因数,近似得到一个经典的摩擦力模型,为进一步精确控制补偿研究提供了参考依据。On the basis of carrying out analysis on the frictional force of hydraulic cylinder of excavation robot, a method for computing the frictional force of hydraulic cylinder has been put forward by the use of virtual prototype of excavation robot. According to the experimental data and the computations of statics and inverse dynamics of the virtual prototype, the frictional force curves of 3 sets cylinders of excavation robot were obtained under different conditions of movement. The frictional coefficient was obtained and a classical model of frictional force was approximately gained, thus provided referential basis for the further study on the precision compensation of control.

关 键 词：挖掘机器人 液压缸摩擦力 虚拟样机 静力学 逆动力学 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP391.9[自动化与计算机技术—控制科学与工程]