串联型制孔机器人的关节刚度识别  

Joint Stiffness Identification of the Serial Drilling Robot

作　　者：朱健[1] 刘长毅[1] 施宇豪[1] 

机构地区：[1]南京航空航天大学机电学院,江苏南京210016

出　　处：《机械设计与制造》2013年第8期66-69,共4页Machinery Design & Manufacture

摘　　要：由于串联型制孔机器人的弱刚性,机器人在制孔力的作用下会产生一定的位移,制孔机器人的刚度对孔的加工质量有很大影响。对一种识别具有六个旋转自由度的机器人关节刚度的方法进行研究。假设机器人连杆为刚体,用Denavit-Hartenberg-modified(D-H-m)方法建立驱动轴坐标系。采用微分变换法求出了具有六个旋转自由度的机器人的雅克比矩阵。在制孔机器人的末端执行器上面施加载荷,在测得末端执行器的变形的前提下,可以识别出机器人各个关节的刚度值,并且能够得到机器人的刚度矩阵。最后建立机器人的三维模型,采用有限元方法对文中的假设进行了验证。Due to the low stiffness of the serial drilling robot,when the serial robot is drilling,some displacement of the robot will appear.Stiffness of the serial drilling robot plays a crucial role in hole quality.And therefore a method of identifying joint stiffness of robot with six rotation freedom have been researched.The link of the robot are assumed to be rigid.Using DenavitHartenberg-modified（D-H-m）method to establish the drive shaft coordinate system.And the Jacques than matrix of the robot with six rotating freedom have been acquired by using differential transformation method.Identifying joint stiffness considering the displacements of the robot end-effector for a applied load,and it acquires the stiffness matrix of the robot.Finally the three-dimension model of robot have been established,the assumption have been verified with finite element method.

关 键 词：机器人 刚度 刚度矩阵 模型 有限元方法 

分 类 号：TH16[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]