考虑温度影响的机器人关节摩擦模型  

Friction Model of Robot Joints Considering Influences of Temperature

作　　者：张一楠 丁建完[1] ZHANG Yinan;DING Jianwan(National CAD Support Software Engineering Research Center,Huazhong University of Science and Technology,Wuhan,430074)

机构地区：[1]华中科技大学国家CAD支撑软件工程技术研究中心,武汉430074

出　　处：《中国机械工程》2023年第2期127-134,共8页China Mechanical Engineering

基　　金：国家重点研发计划(2019YFB1706501)。

摘　　要：为描述连续运转下的温度对串联机器人关节摩擦的影响,提出一种考虑温度影响的关节摩擦模型。该摩擦模型可在无需对温度进行测量或估计的前提下描述关节温度变化对关节摩擦的影响。通过实验测量了机器人关节在不同角速度下连续运转时的摩擦力矩,并基于理论模型对数据进行了拟合。实验结果对比验证了该关节摩擦模型的有效性,且该模型能较为准确地描述连续运转下关节摩擦力矩的变化。In order to describe the influences of temperature on serial robot joint friction under continuous operations,a joint friction model was proposed considering the influences of temperature.This friction model might describe the effects of joint temperature changes on joint friction without measuring or estimating temperature.Through experiments,the friction torques of the robot joints were measured as the joint operations continuously at different angular velocities,and the data were fitted based on the theoretical model.By comparing the experimental results,the validity of the joint friction model was verified.This model may describe the variation of joint friction torques more accurately under continuous operations.

关 键 词：串联机器人 机器人关节 摩擦模型 关节温度 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]