基于改进型轴套力的机器人钢丝绳传动动力学建模与仿真  

Dynamic modeling and simulation of robot steel wire rope transmission based on improved bushing force

作　　者：贠今天[1,2] 赵子业 左鹏 夏雨 YUN Jin-tian;ZHAO Zi-ye;ZUO Peng;XIA Yu(School of Mechanical Engineering,Tianjin Polytechnic University,Tianjin 300387,China;Tianjin City Key Laboratory of Modern Mechatronics Equipment Technology,Tianjin Polytechnic University,Tianjin 300387,China)

机构地区：[1]天津工业大学机械工程学院,天津300387 [2]天津工业大学天津市现代机电装备技术重点实验室,天津300387

出　　处：《天津工业大学学报》2018年第4期78-83,共6页Journal of Tiangong University

基　　金：天津市自然科学基金(一般项目)资助项目(16JCYBJC18400)

摘　　要：钢丝绳因具有质量轻、强度高、传动平稳等特点被广泛应用于机器人传动系统中.为提高机器人传动精度,对机器人中的钢丝绳传动进行了分析研究.针对目前已有建模方法的缺点,提出一种改进型的轴套力建模方法,该方法基于adams软件,对单层缠绕和多层缠绕两种传动缠绕方式进行了建模与仿真,分别得到传动效率为94%和98%,由此得到了较好的缠绕方式,并确定多层缠绕方式的最佳传动速度范围为5 r/s和40 r/s,同时传动过程中的具体数据为控制策略及控制方法提供了可靠依据.Wire rops,due to the light weight,high strength,smooth transmission and other characteristics,are widely used in robot transmission system.In order to improve the accuracy of the robot transmission,the wire rope drive in the robot is analyzed and studied.Considering the shortcomings of existing modeling methods,an improved modeling method of bushing force is proposed,which is based on adams software.Through this method,two kinds of winding modes are modeled and simulated,and the transmission efficiencies are 94%and 98%respectively.So that a better winding method is obtained and the optimum transmission speed range for the multi-layer winding method is determined to be 5 r/s and 40 r/s.Meanwhile,the specific data in the transmission process provide a reliable basis for the control strategy and control method.

关 键 词：机器人 钢丝绳传动 轴套力 adams建模 动力学仿真 

分 类 号：TH132.23[机械工程—机械制造及自动化] TP241.3[自动化与计算机技术—检测技术与自动化装置]