考虑摩擦的机械手逆动力学问题的研究  

INVERSE DYNAMIC PROBLEM OF MANIPULATORS WITH FRICTION

作　　者：张劲夫[1] 许庆余[1] 万方义[1] 张陵[1] 

机构地区：[1]西安交通大学建筑工程与力学学院,西安710049

出　　处：《工程力学》2002年第4期104-108,共5页Engineering Mechanics

基　　金：国家自然科学基金资助项目(59875068)

摘　　要：机械手关节通常包括径向转动关节﹑止推转动关节﹑径向止推转动关节和滑移关节这四种类型。本文针对机械手各类关节的结构特征,分别建立了与之相应的关节库仑摩擦和粘性摩擦的数学模型,并将这些模型应用于机械手逆动力学问题的研究中,给出了既考虑关节库仑摩擦又考虑粘性摩擦的机械手逆动力学问题的算法。最后,以STANFORD机械手为算例,分别计算了计入摩擦和不计入摩擦两种情形下的关节驱动力矩(或驱动力)的时间历程。计算结果表明两种情形下得到的关节驱动力矩(或驱动力)之间存在着明显的差异。Joints of manipulators usually include radial revolute joint, thrust revolute joint, radial thrust revolute joint and sliding joint. Formulations of Coulomb friction and viscous friction for various types of joints are established according to structure features of the joints. Based on the above work, the algorithm for inverse dynamic problem of manipulators with these frictions is presented. As an illustrative example of the algorithm, STANFORD manipulator is studied. Numerical results show that there are obvious differences between magnitudes of driving torques with friction effects and without friction.

关 键 词：机械手关节 摩擦 逆动力学问题 关节驱动力矩 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]