谐波齿轮传动的柔性双连杆机械臂定位  

Positioning of Flexible Double-Link Manipulator with Harmonic Gear Transmission

作　　者：庄志忠[1] 褚伯贵[2] ZHUANG Zhi-zhong;CHU Bo-gui(College of Mechanical and Intelligent Manufacturing,Fujian Chuanzheng Communications College,Fujian Fuzhou 530023,China;School of Logistics Engineering,Wuhan University of Technology,Hubei Wuhan 535011,China)

机构地区：[1]福建船政交通职业学院机械与智能制造学院,福建福州530023 [2]武汉理工大学物流工程学院,湖北武汉535011

出　　处：《机械设计与制造》2022年第11期258-262,267,共6页Machinery Design & Manufacture

基　　金：福建省中青年教师教育科研项目(科技类)(JAT181190)。

摘　　要：针对低刚度机构和连杆之间的耦合转矩引起的机械振动问题,提出了一种适用于谐波齿轮传动柔性双连杆机械臂的解耦定位控制方法。首先,构建了双连杆三惯量机械臂的物理模型。然后,对传统2自由度(2-DOF)控制框架中的性能恶化问题进行了分析。其次,将机械臂近似为线性双连杆双惯性系统并引入多输入多输出系统的解耦器来实现解耦,并构造了基于半闭环结构的2-DOF串联控制系统,以便补偿传动系统中的角传动误差。以两个典型多连杆运动为例,对所提解耦定位控制方法的有效性进行了验证。研究结果表明,相比于准全闭环控制和带角传动误差补偿的半闭环控制,所提解耦控制方法在位置和扭矩波形上均表现出了更好的振动抑制效果,获得了±0.1 mm的精度和0.1 s的稳定时间,有助于构建柔性双连杆机械臂的高性能定位系统。Aiming at the mechanical vibration problem caused by the coupling torque between the low stiffness mechanism and the connecting rod,a decoupling positioning control method suitable for harmonic gear driven flexible double-link manipulator is proposed.Firstly,the physical model of a two-link three-inertia manipulator is constructed.Then,the performance deterioration in the traditional 2-DOF control framework is analyzed.Secondly,the mechanical arm is approximated as a linear dual-link dual-inertia system,and the decoupling is realized by introducing the decoupler of the multi-input multi-output system,and a 2-DOF series control system based on the semi-closed loop structure is constructed to compensate the angular transmission error in the transmission system.Taking two typical multi-link motions as examples,the effectiveness of the proposed decoupling positioning control method is verified.The research results show that compared with quasi-full closed-loop control and semi-closed-loop control with angular drive error compensation,the proposed decoupling control method shows better vibration suppression effect in position and torque waveform,and obtains±0.1mm accuracy and 0.1s stability time,which is helpful to build a high-performance positioning system of harmonic gear drive series flexible two-link manipulator.

关 键 词：协作机器人 柔性机械臂 谐波齿轮 解耦控制 振动抑制 

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