一种新型可控机构式机器人机构振动特性  

Research on Vibration Characteristics of a New Controllable Mechanism Robot

作　　者：蔡敢为[1,2] 彭思旭 张轲忱 龚俊杰 韦为 无[3] CAI Ganwei;PENG Sixu;ZHANG Kechen;GONG Junjie;WEI wei;无(College of Mechanical Engineering,Guangxi University,Nanning 530004,China;College of Physics and Electromechanical Engineering,Hechi University,Hechi Guangxi 546300,China;School of Construction Machinery,Hunan Sany Polytechnie Collget,Changsha 410100,China)

机构地区：[1]广西大学机械工程学院,南宁530004 [2]河池学院物理与机电工程学院,广西河池546300 [3]湖南三一工业职业技术学院工程机械学院,长沙410100

出　　处：《机械设计与研究》2021年第6期66-72,共7页Machine Design And Research

基　　金：国家自然科学基金(51765005);广西科技重大专项(桂科AA19254021)资助项目。

摘　　要：可控机构式机器人将驱动电机和减速器安装在机架或机架附近,使机构运动惯量显著减小,改善了机器人机构的动态性能。为了研究这种新型的机器人机构的动态性能.避免其发生异常振动,本文以一种所研制的机器人机构为研究对象,对其弹性动力学进行了建模,并对其振动特性进行了研究。首先对该机器人机构进行运动学分析,然后基于有限单元法建立其弹性动力学模型,在此基础上运用多尺度法求解系统动力学响应,并对机构在自激惯性力作用下的振动机理进行分析,研究其非线性振动特性及主共振、组合共振的条件。结果表明,在自激惯性力作用下,机器人机构的驱动电机角速度近似于系统的某阶固有圆频率时,系统将发生主共振现象;而当多个驱动电机的角速度与系统的固有圆频率达到特定条件时,可能发生组合共振现象。发生共振时系统动态响应的幅值增大,为了避免可控机构式机器人在运行过程中发生共振,应注意使驱动电机的角速度远离机器人机构的共振条件.The controllable mechanism robot places the drive motor and the speed reducer on or near the frame,which significantly reduces the inertia of the mechanism and improves the dynamic performance of the mechanism.In order to study the dynamic performance of this new type of robot mechamism and avoid abnormal vibration,the elastodynamics of a new type of robot mechanism is modeled and its vibration characteristics are studied in this paper.Firstly,kinematics analysis of the mechanism is carried out;then its elastie dynamic model is established based on finite element method;the system dynamic response is solved by muli-scale method;and the vibration mechanism of the mechanism under the self-exciting inertial force is analyzed to study its non-linear vibration characteristics and the conditions of main resonance and combined resonance.The results show that under the self-excited inertia force,the main resonance will oecur when the angular speed of the driving motor of the robot mechanism approximates one of the natural circular frequencies of the system,while combined resonance may occur when the angular speed of multiple driving motors and the natural circular frequency of the system reach certain conditions.The amplitude of system dynamic response increases when resonance oceurs.In order to avoid resonance of controlled mechanism robot during operation,altention should be paid to keeping the angular speed of the drive motor away from the resonance condition of robot mechanism.

关 键 词：可控机构 弹性动力学 非线性振动 有限单元法 多尺度法 

分 类 号：TH112[机械工程—机械设计及理论]