考虑杆件自重影响含间隙铰机械臂的抑振策略  

Vibration suppression strategy of manipulator with clearances under consideration of member bar’s weight

作　　者：张发军 张烽 佘弈 陈保家 Zhang Fajuna,b ,Zhang Fenga, She Yia, Chen Baojiaa,b(a College of Mechanical and Power; b Hubei Key Laboratory of Hydroelectric Machinery Design and Maintenance, Three Gorges University, Yichang 443002, Hubei Chin)

机构地区：[1]三峡大学机械与动力学院,湖北宜昌443002 [2]三峡大学水电机械设备设计与维护湖北省重点实验室,湖北宜昌443002

出　　处：《华中科技大学学报（自然科学版）》2018年第3期75-79,共5页Journal of Huazhong University of Science and Technology(Natural Science Edition)

基　　金：国家自然科学基金资助项目(51275273);三峡大学硕士学位论文培优基金资助项目(2017YPY027);水电机械设备设计与维护湖北省重点实验室开放基金资助项目(2017KJX02)

摘　　要：以含间隙3R串联机械臂为研究对象,针对含间隙机械臂关节铰内碰运动干涉的可能性,利用运动学方程以及达朗贝尔原理推导含间隙机械臂的动力学方程,并根据动力学方程分析机械臂各杆件质量对动力学行为的影响.在SolidWorks中建立含间隙3R串联机械臂三维模型,通过将各杆件定义为不同的机械臂常用的材料从而达到调整各杆件质量的目的.基于科学软件得出不同杆件自重影响下含间隙铰机械臂的动态激振特征参数.结果表明：通过选择不同制造材料实现机械臂杆件质量按序递减的调整策略,对含间隙铰机械臂的动态抑振具有明显的实际效果.The 3R series manipulator with clearances was taken as the object of study,the possibility of interference between joints of a robot arm with clearances was investigated,the equations of dynamic of a robot arm with clearances were derived by using the kinematic equations and the D＇Alembert＇s principle,and the influence of the bar＇s weight of the manipulator on the dynamic behavior was analyzed according to the dynamic equation.A three-dimensional model of a 3R series manipulator with clearances was established in SolidWorks.By defining the bars as different materials commonly used in manipulators,the purpose of adjusting the weight of each member was achieved.Based on the software,the characteristic parameters of dynamic vibration of the articulated manipulator with clearances were obtained.It is proved that the strategy of decreasing the quality of the mechanical arm members in descending order is achieved by selecting different manufacturing materials,and it has obvious practical effect on the dynamic vibration suppression of the mechanical arm with clearances.

关 键 词：串联机械臂 铰间隙 达朗贝尔原理 杆件质量 抑振 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]