考虑减速机构间隙的机械臂动力学建模分析  

Dynamic Modeling and Analysis of Robot Arm with Consideration of Clearance in Gear Reducer

作　　者：卢剑伟[1] 陈昊[1] 孙晓明[1] 徐燚[1] 

机构地区：[1]合肥工业大学机械与汽车工程学院,合肥230009

出　　处：《机械工程学报》2013年第15期15-21,共7页Journal of Mechanical Engineering

基　　金：国家自然科学基金(50975071);教育部新世纪优秀人才支持计划(NCET-10-0358)资助项目

摘　　要：对考虑行星齿轮减速机构间隙的单杆机械臂动力学建模进行讨论,并分析间隙对系统动态响应的影响。以采用行星齿轮减速机构的单杆机械臂为研究对象,用二状态模型描述齿轮间隙副接触状态,采用集中质量法建立考虑间隙和时变啮合刚度的行星齿轮减速机构动力学模型,基于Euler-Bernoulli梁假设,根据假设模态法讨论柔性机械臂的弹性变形,利用Lagrange方程建立系统的运动微分方程,并用ADAMS多步积分方法对方程进行求解。通过数值算例分析表明,考虑齿侧间隙时,系统响应的运动形态会明显改变,且随着齿侧间隙的增大,间隙产生的传递误差对机械臂定位误差的影响逐渐占主导作用。研究结果为进一步提高机械臂的定位精度提供支持。Dynamic modeling of single link robot arm with consideration of clearance in planetary gear reducer is discussed, and the influence of the clearance on dynamic response of the mechanism is analyzed. The contact state of gear pair is described with two-state model and the dynamic model of planetary gear reducer with consideration of clearance and time-varying meshing stiffness is built by adopting lumped mass method. Based on assumption of Euler-Bernoulli beam and the assumed mode method, the elastic deformation of the flexible robot arm is presented. Therefore, equations of motion （EOM） of the system are obtained based on Lagrange equation and the solution is carded out by using Adams variable step-size multistep integral method. The results indicate that the responses of the robot system change obviously when clearance in gear reducer is considered and the clearance become the dominant factor to influence the positioning precision of the robot arm with the increment of clearance. The results provide theoretical basis of imnrovin~ the positioning, nrecision of the robot arm.

关 键 词：行星齿轮 柔性机械臂 间隙 非线性动力学 

分 类 号：TH113[机械工程—机械设计及理论]