考虑关节摩擦的刚柔耦合机械臂末端抖动模拟与分析  

Simulation and Analysis of End Vibration of Rigid-Flexible Coupling Manipulator Considering Joint Friction

作　　者：管恋哲 张振山 崔国华 潘颖 GUAN Lianzhe;ZHANG Zhenshan;CUI Guohua;PAN Ying(School of Mechanical and Automotive Engineering,Shanghai University of Engineering Science,Shanghai 201620,China)

机构地区：[1]上海工程技术大学机械与汽车工程学院,上海201620

出　　处：《机床与液压》2022年第21期54-58,共5页Machine Tool & Hydraulics

基　　金：上海市自然科学基金(18030501200)。

摘　　要：为了解关节摩擦对刚柔耦合机械臂末端抖动的影响,解决机械臂的优化设计问题,利用ANSYS、ADAMS软件建立机械臂刚柔耦合模型,并在ADAMS中进行动力学仿真。通过进一步创建考虑关节摩擦的机械臂虚拟样机模型,对机器人末端振动特性进行动态模拟与分析。仿真结果表明:在机器人实际工作过程中,关节2和关节3存在摩擦对机器人末端抖动的影响最显著;在考虑多关节摩擦时,关节2和关节3共同存在摩擦时可使得机器人末端非周期性抖动幅值减弱,且当关节2摩擦因数取0.1时机器人末端抖动表现最弱,但关节3摩擦因数的改变几乎不会引起机器人末端抖动情况的变化。In order to understand the influence of joint friction on the end vibration of a rigid-flexible coupling manipulator,to solve the problem of optimal design of the manipulator,ANSYS and ADAMS software were used to establish the rigid-flexible coupling model of the manipulator,and dynamic simulation was performed in ADAMS.By further creating a virtual prototype model of a mechanical arm that considers joint friction,dynamic simulation and analysis of the vibration characteristics of the robot end were carried out.The simulation results show that in the actual working process of the robot,joint 2 friction and joint 3 friction have the most significant influence on the end vibration of the robot;when considering multi joint friction,when joint 2 and joint 3 have friction together,the aperiodic vibration amplitude of the robot end can be reduced,and when the friction coefficient of joint 2 is 0.1,the robot end vibration performance is the weakest,but the friction coefficient of joint 3 is lower,the change will hardly cause a change in the vibration of the end of the robot.

关 键 词：刚柔耦合 关节摩擦 机器人 末端抖动分析 

分 类 号：TP241.2[自动化与计算机技术—检测技术与自动化装置]