机器人智能关节机电耦合系统瞬态动力学研究  

Research on transient dynamics of robot intelligent joint electromechanical coupling system

作　　者：莫帅 周长鹏 高瀚君 岑国建 MO Shuai;ZHOU Changpeng;GAO Hanjun;CEN Guojian(School of Mechanical Engineering,Tiangong University,Tianjin 300387,China;Tianjin Key Laboratory of Advanced Mechatronics Equipment Technology,Tianjin 300387,China;State Key Laboratory of Digital Manufacturing Equipment and Technology,Huazhong University of Science and Technology,Wuhan 430074,China;Jiangsu Wanji Transmission Technology Co.Ltd.,Taizhou 225400,Jiangsu China;State Key Laboratory of Virtual Reality Technology and Systems,Beihang University,Beijing 100191,China;Ningbo Zhongda Leader Transmission Equipment Co.Ltd.,Ningbo 315301,Zhejiang China)

机构地区：[1]天津工业大学机械工程学院,天津300387 [2]天津市现代机电装备技术重点实验室,天津300387 [3]华中科技大学数字制造装备与技术国家重点实验室,湖北武汉430074 [4]江苏万基传动科技有限公司,江苏泰州225400 [5]北京航空航天大学虚拟现实技术与系统国家重点实验室,北京100191 [6]宁波中大力德智能传动股份有限公司,浙江宁波315301

出　　处：《华中科技大学学报（自然科学版）》2023年第2期131-138,共8页Journal of Huazhong University of Science and Technology(Natural Science Edition)

基　　金：国家自然科学基金资助项目(52265004);中国科协青年人才托举工程资助项目(2018QNRC001);数字制造装备与技术国家重点实验室开放基金资助项目(DMETKF2021017);江苏省泰州市双创计划资助项目。

摘　　要：为分析机器人关节在不同工况下的动态特性,建立了机电耦合动力学方程,利用集中参数法构建了机器人关节机电耦合动力学模型,模型方程考虑了传动系统的时变啮合刚度、驱动电机的电磁特性、齿侧间隙等因素.电机采用转速、电流双闭环比例积分(PI)控制,分析该模型在启动、遭受冲击和机器人关节正反转等非稳态过程下的动态特性.结果表明:机器人关节在启动过程中电机和齿轮传动系统受到冲击载荷,特别是当转速第一次达到设定转速时出现明显反冲现象,在第一级齿轮中啮合力变化最明显,电机按照指令正反转时表现出类似特性;在外部冲击载荷作用下,啮合力在低速级受到冲击影响最大,对于经常遭受冲击的部件应增大其使用安全系数.In order to study the dynamic characteristics of robot joints under different working conditions,the electromechanical coupling dynamics equations was established,and the electromechanical coupling dynamics model of the robot joints was constructed by lumped-parameter method. The time-varying mesh stiffness of the transmission system,the electromagnetic characteristics of the driving motor and the tooth side clearance were considered in the equation.The motor adopted double closedloop proportional integral(PI) control of speed and current,and the dynamic characteristics of the model during unsteady processes such as startup,impact,and forward and reverse rotation of robot joints were analyzed.The research results show that the motor and gear transmission system of the robot joint are subjected to shock loads during the starting process,especially when the speed reaches the rated speed for the first time,there is an obvious recoil phenomenon.The mesh force changes obviously in the first stage gears.It shows similar characteristics when it is in forward and reverse rotation according to the command. Under the action of external shock load,the impact of the mesh force is the most affected at the low-speed stage. The safety factor should be increased for transmission parts that are often impacted.

关 键 词：机器人关节 机电耦合动力学 双联齿轮 瞬态动力学 动态特性 

分 类 号：TP132[自动化与计算机技术—控制理论与控制工程]