2R耦合驱动关节动力学建模与参数辨识  

Research on Dynamic Modeling and Parameter Identification of 2R Coupling Drive Joint

作　　者：卢浩 郭士杰 杨志强 陈力[1,2,3] 邓飞 王洪波[1,2,3] LU Hao;GUO Shijie;YANG Zhiqiang;CHEN Li;DENG Fei;WANG Hongbo(Academy for Engineering&Technology,Fudan University,Shanghai 200433;Institute of AI and Robotics,Fudan University,Shanghai 200433;Shanghai Engineering Research Center of AI&Robotics,Shanghai 200433;School of Mechanical Engineering,Hebei University of Technology,Tianjin 300130)

机构地区：[1]复旦大学工程与应用技术研究院,上海200433 [2]复旦大学智能机器人教育部工程研究中心,上海200433 [3]上海智能机器人工程技术研究中心,上海200433 [4]河北工业大学机械工程学院,天津300130

出　　处：《机械工程学报》2022年第23期51-64,共14页Journal of Mechanical Engineering

基　　金：上海科技计划(21511101701);国家重点研发计划(2021YFC0122704)资助项目。

摘　　要：围绕护理机器人的人机安全接触和轻量大负载需求,提出了一种2R耦合驱动关节构型,并解决了耦合驱动动力学建模问题,为高性能运动控制器搭建提供基础。该关节设计紧凑、负载能力强,两个伺服电机经过三级减速后,通过差动结构实现两自由度耦合输出,且表面光滑适宜与人接触。通过运动学分析了耦合驱动的原理,利用拉格朗日法建立了耦合驱动动力学模型。为解决速度零点摩擦力不连续,造成基于模型的控制器运动性能变差的问题,引入了连续可微摩擦模型,利用连续可微特性采用灰色模型提高了辨识精度。研制了机器人关节样机,进行了关节解耦、摩擦数据采集、参数辨识及轨迹跟踪等试验,结果表明所设计的耦合驱动关节可以完成周转、俯仰两个转动自由度的单独及耦合运动,并且输出扭矩与重量的比值达到了143.6 N·m/kg,可以满足轻量大负载护理需求,同时基于所建立动力学模型的运动控制可以显著提高轨迹跟踪的准确性。A kind of 2R coupling drive joint configuration is proposed to meet the requirements of human-robot safe contact and light-weight-large-load of the nursing-care robot. The coupling drive dynamics modeling method is solved, which provides a basis for building a high-performance motion controller. After three-stage deceleration, the two servo motors of the joint realize the coupling output of two degrees of freedom through the differential structure. This design makes the joint suitable for contact with people by strong load capacity and smooth surface. The principle of coupling drive is analyzed through kinematics, and the dynamic model of coupling drive is established by the Lagrange method. The continuous differentiable friction model is introduced to solve the problem of discontinuous friction at speed zero to improve the motion performance of the motion controller. After the robot joint prototype is developed, joint decoupling, friction data acquisition, parameter identification, and trajectory tracking are conducted. The results showed that the designed coupling drive joint could complete the independent and coupling movement of turnover and pitch. The ratio of output torque to weight reaches 143.6 N·m/kg, which can meet the nursing needs of light-weight-heavy-load. At the same time, the motion control based on the established dynamic model can significantly improve the accuracy of trajectory tracking.

关 键 词：护理机器人 耦合驱动关节 动力学建模 连续摩擦模型 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]