关节间隙对机器人动态特性影响分析  

Analysis of Assembly Robot Dynamic Characteristics Considering Joint Clearance

作　　者：王黎光[1] 徐海波[1] 荣必贤[1] 赵孝永[1] 

机构地区：[1]西安交通大学机械工程学院,陕西西安710049

出　　处：《机械设计与制造》2016年第10期151-154,共4页Machinery Design & Manufacture

基　　金：国家自然科学基金项目(51175410)

摘　　要：为了分析关节间隙对机器人动态特性的影响,采用L-N非线性弹簧阻尼模型对关节间隙接触碰撞力进行建模,D-H方法建立装配机器人的运动学方程,Lagrange方法建立装配机器人动力学微分方程,推导出关节位移、速度、角加速度、力矩以及接触力的方程;提出采用IMPACT函数对碰撞进行描述,运用ADAMS软件建立含关节间隙机器人虚拟样机,分析不同驱动方式下关节间隙对机器人动态特性的影响;以自行设计的四自由度装配机器人为研究对象搭建实验平台对理论分析与仿真结果进行验证,实验验证了理论分析与仿真分析的合理性,得到了关节间隙对机器人动态特性影响曲线并提出了相应的改善措施。In order to analyze the impact of joint clearance on dynamic characteristics of assembly robot, it adopted L-N nonlinear spring damping model to model contact collision force of joint clearance, D-H method to establish kinematics equation and Lagrange method to establish dynamics differential equation of assembly robot respectively. Thus the joint displacement, velocity, angle acceleration, torque and contact force equation were derived through the methods above; Virtual prototype was established to analyze the simpact of joint clearance on dynamic characteristics of robot using ADAMS software; A platform for experiments based on 4-degree-of-freedom assembly robot was set up to verify the theoretical analysis and the simulation results to be valid. The results indicate that the theoretical analysis and the simulation results are correct, meanwhile, the improvement measures are proposed according to the results.

关 键 词：工业机器人 关节间隙 接触碰撞力 动态特性 

分 类 号：TH16[机械工程—机械制造及自动化] TH24