含间隙非线性的工业机器人关节振动特性分析  

Analysis on Joint Vibration Characteristics of Industrial Robot with Clearance Nonlinear

作　　者：仪凌霄 潘斯宁 刘志成 刘应忠 YI Lingxiao;PAN Sining;LIU Zhicheng;LIU Yingzhong(College of Artificial Intelligence,Hezhou University,Hezhou Guangxi 542899,China;College of Mechanical and Electrical Engineering,Guilin University of Electronic Technology,Guilin Guangxi 541004,China)

机构地区：[1]贺州学院人工智能学院,广西贺州542899 [2]桂林电子科技大学机电工程学院,广西桂林541004

出　　处：《机床与液压》2023年第21期71-77,共7页Machine Tool & Hydraulics

基　　金：广西高校中青年教师基础科研能力提升项目(2022KY0706);贺州市科学研究与技术开发计划项目(贺科技202228);广西科技基地与人才项目(AD20297043)。

摘　　要：为了探明关节间隙对工业机器人振动特性的影响,建立含间隙非线性的关节机电耦合动力学模型,对该系统间隙稳定性进行数值分析,随后对关节重要零部件开展扭转振动特性仿真研究,并搭建单关节摆臂试验台进行间隙测试。根据采集到的电流信息参数,提出一种基于力矩观测器的间隙补偿策略。间隙实验测试结果与关节系统谐振频域响应的仿真结果验证了所提含间隙关节模型的准确性,且通过补偿前后电流信号的实验结果证明了该补偿策略对提高关节系统稳定性有效。Electromechanical coupling dynamic model of nonlinear joint with clearance was established in order to study the influence of joint clearance on vibration characteristics of industrial robot.By numerical analysis on stability of the system clearance,the torsional vibration characteristics simulation study of the joint’s key components was made.The clearance test bench was constructed to make clearance test for a single joint swing arm.A clearance compensation strategy based on torque observer was proposed on the basis of the collected current parameters.The accuracy of the joint model with clearance was verified via results of clearance test and simulation research of resonance frequency domain response of joint system.According to the test results of current signal before and after compensations,the compensation strategy can be used to improve stability of joint system.

关 键 词：工业机器人 关节模型 间隙非线性 振动特性 力矩补偿 

分 类 号：TH113[机械工程—机械设计及理论]