螺旋桨铣磨机器人动态特性及振动抑制研究  

Dynamic Characteristics and Vibration Suppression of Milling and Grinding Robot

作　　者：丁文政[1] 贺文权 陈浩文 陈生华 DING Wen-zheng;HE Wen-quan;CHEN Hao-wen;CHEN Sheng-hua(Jiangsu Key Laboratory of Advanced Numerical Control Technology,Nanjing Institute of Technology,Jiangsu Nanjing 211167,China;Nanjing High Accurate Marine Equipment Co.,Ltd.,Jiangsu Nanjing 211003,China)

机构地区：[1]南京工程学院先进数控技术江苏省高校重点实验室,江苏南京211167 [2]南京高精船用设备有限公司,江苏南京211003

出　　处：《机械设计与制造》2022年第11期102-105,共4页Machinery Design & Manufacture

基　　金：国家自然科学基金(51405220);南京工程学院校级科研基金(JCYJ201843);江苏高校“青蓝工程”中青年学术带头人资助项目和江苏省研究生实践创新项目(SJCX21_0922)。

摘　　要：大型船用螺旋桨铣磨机器人各关节处柔性是导致运行过程中振动的重要因素。首先,建立了刚性臂和柔性关节相结合的6-DOF螺旋桨铣磨机器人动力学模型,并对模型中各参数进行了计算和实验辨识;然后,通过动态响应仿真和振动测试试验分析了机器人各关节的动态特性;最后,基于简单可行的PID算法,进行关节振动抑制研究。结果表明包含关节柔性的螺旋桨铣磨机器人动力学模型动态响应与试验测试数据一致,基于该模型整定的PID参数有效抑制了机器人运行中的振动。The flexibility of joints in large industrial robots used to mill and grind the marine propellers was the important issue leading to vibration.Firstly,6-DOF dynamic model for milling and grinding the marine propellers was established combined rigid links and flexible joints.The parameters in the model were obtained by calculating and experiments.Then,characteristics of joints was analyzed by simulation and vibration tests.Finally,the vibration suppression of joints was investigated based on the simple and feasible PID algorithm.The results show that the dynamic response of the propeller milling and grinding robot with joint flexibility is consistent with the test data,and the vibration is suppressed obviously based on PID controller.

关 键 词：铣磨机器人 动态特性 关节柔性 动力学建模 振动抑制 PID控制 

分 类 号：TH16[机械工程—机械制造及自动化] TP241.2[自动化与计算机技术—检测技术与自动化装置]