谐波减速回转关节特性研究  

Characteristics of a Revolute Joint with Harmonic Reducers

作　　者：杨新刚[1] 黄玉美[1] 刘鸿雁[1] 刘秀臣[1] 

机构地区：[1]西安理工大学机械与精密仪器工程学院,西安710048

出　　处：《机械科学与技术》2009年第7期909-912,共4页Mechanical Science and Technology for Aerospace Engineering

基　　金：教育部高等学校博士学科点专项科研基金项目(20050700007)资助

摘　　要：对其摩擦及刚度特性进行了研究。基于对摩擦模型及产品数据的分析,提出了符合这种关节特性的LuGre修正动态摩擦模型和静态摩擦模型;考虑其摩擦特点及使用条件,给出了静态摩擦模型参数的简单辨识方法;以刚度测定实验数据为依据,剔除了摩擦力的影响,得到了基于指数函数的非线性回转刚度描述。A revolute joint with harmonic reducers is an important component in multi-axis NC machine and its fric- tion and stiffness characteristics are investigated in this paper. Based on analysis of friction model and product data, a modified LuGre dynamic friction model and its corresponding static friction model which agrees with the joint＇s properties are proposed, and a simple parameter identification method of the static friction model of this kind of joint is also given with its friction feature and service conditions considered. According to the experimental meas- urement data of transmission stiffness with the effect of friction removed, a nonlinear transmission stiffness descrip- tion is established by introducing exponential function. The above models and methods provide guidance for model based errors compensation and motion control of this kind of joint.

关 键 词：摩擦模型 回转关节 刚度 谐波减速器 误差补偿 

分 类 号：TH13[机械工程—机械制造及自动化]