往复摆动加载测试过程中的运动学分析  

Kinematics Analysis for the Reciprocating Swing Loading Test

作　　者：姚良博 李金峰 吴艺波 弓宇[1] 程曼 YAO Liangbo;LI Jinfeng;WU Yibo;GONG Yu;CHENG Man(China Productivity Center for Machinery Co.,Ltd.,Beijing 100040,China;Key Laboratory of Safety of Intelligent Robots for State Market Regulation,Foshan 528300,China)

机构地区：[1]中机生产力促进中心有限公司,北京100040 [2]国家市场监管重点实验室(智能机器人安全),佛山528300 [3]广东产品质量监督检验研究院,佛山528300

出　　处：《组合机床与自动化加工技术》2024年第2期40-43,50,共5页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：国家市场监管重点实验室开放课题项目(DQI-KFKT202207)。

摘　　要：以工业机器人用减速器的摆动疲劳试验为例,利用Lagrange方法从理论上分析了单侧配重和对称配重两种加载单元在相同加减速运动规律下的运动学特性,并利用Adams仿真和摆动加载试验进行了评估。结果表明,基于Lagrange方法对加载单元产生的有效摆动加载扭矩的计算结果与仿真和试验结果基本一致。单侧配重在单位重量下可以产生更高的有效加载扭矩,从而在相同的有效加载扭矩下产生更小的倾覆载荷力。同时也表明在摆动疲劳可靠性试验中应用单侧配重加载单元更加科学合理。In the swing fatigue test of industrial robot reducer,the kinematics characteristics of unilateral counterweight and symmetrical counterweight under the same acceleration and deceleration motion law were analyzed theoretically by using Lagrange method,and evaluated by Adams simulation and swing loading test.All the results indicated that the calculation of the effective swing loading torque generated by the loading unit based on the Lagrange method was basically consistent with the simulation and test results.The unilateral counterweight can produce higher effective loading torque per unit weight,resulting in smaller overturning load force under the same effective loading torque.Meanwhile,the results suggest that the application of better scientific results can be achieved by unilateral counterweight in swing fatigue test.

关 键 词：摆动运动 机器人减速器 运动学特性 加载扭矩 

分 类 号：TH166[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]