Nonlinear Stiffness Modeling Method for a Collaborative Robot

Song Wang; Mingwei Hu; Aihua Liu; Xu Liu; Xin'an Pan

doi:10.16578/j.issn.1004.2539.2021.08.007

您当前的位置：

首页 >

文章列表页 >

Nonlinear Stiffness Modeling Method for a Collaborative Robot

Theory·Reserach | 更新时间：2022-11-10

- Nonlinear Stiffness Modeling Method for a Collaborative Robot
- Journal of Mechanical Transmission Vol. 45, Issue 8, Pages: 51-57(2021)
- 作者机构：
  
  1.南方电网科学研究院有限责任公司，广东广州 510080
  2.中国船舶重工集团公司第七一六研究所，江苏连云港 222006
  3.中国科学院沈阳自动化研究所，辽宁沈阳 110016
  4.中国科学院机器人与智能制造创新研究院，辽宁沈阳 110169
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2021.08.007
  CLC：
扫描看全文
王颂,胡明伟,刘爱华等.一种协作机器人非线性刚度建模方法[J].机械传动,2021,45(08):51-57.

Wang Song,Hu Mingwei,Liu Aihua,et al.Nonlinear Stiffness Modeling Method for a Collaborative Robot[J].Journal of Mechanical Transmission,2021,45(08):51-57.
王颂,胡明伟,刘爱华等.一种协作机器人非线性刚度建模方法[J].机械传动,2021,45(08):51-57. DOI： 10.16578/j.issn.1004.2539.2021.08.007.

Wang Song,Hu Mingwei,Liu Aihua,et al.Nonlinear Stiffness Modeling Method for a Collaborative Robot[J].Journal of Mechanical Transmission,2021,45(08):51-57. DOI： 10.16578/j.issn.1004.2539.2021.08.007.

摘要

提出了一种有限元和虚拟关节法相结合的协作机器人非线性刚度建模方法，该方法不仅包含连杆和关节模块线性及耦合刚度，还考虑了机器人传动系统非线性刚度、负载作用下雅可比矩阵变化率以及负载和自重引起的位姿变化对机器人刚度非线性的影响。通过有限元子结构法提取机器人各模块的结构刚度矩阵，与传动系统非线性刚度模型相结合，建立机器人各模块的非线性综合刚度模型；采用数值计算方法计算在外力和自重工况下的静力平衡位姿及各模块受力情况；基于虚拟关节法构建机器人的非线性刚度模型，通过非线性有限元仿真验证了该建模方法的正确性。

Abstract

A nonlinear stiffness modeling method for collaborative robots（Cobots） is proposed， which is combine the finite element analysis method （FEA） with the virtual joint method （VJM）. This modeling method not only includes the linear and coupled stiffness of the link and joint modules， but also takes into account the nonlinear stiffness of transmission systems of robot， the change rate of Jacobian matrix under loads and the influence of the changes of poses are caused by the load and deadweight on nonlinear stiffness of robot. The structure stiffness matrices of link modules and joint modules are obtained by finite element substructure method. Combined with the nonlinear stiffness model of the transmission system， the nonlinear comprehensive stiffness model of each robot module is established. The static equilibrium pose and the force of each module under external force and self-weight condition are calculated by numerical calculation method. Based on the VJM， a nonlinear stiffness model of robot is built， and the validity of this method is proved by nonlinear finite element simulation.

关键词

协作机器人非线性刚度建模子结构法

Keywords

Collaborative robotNonlinearStiffness modelingSubstructure method

references

VILLANI V，PINI F，LEALI F，et al.Survey on human-robot collaboration in industrial settings：safety，intuitive interfaces and applications［J］.Mechatronics，2018，55：248-266.

胡明伟，王洪光，潘新安，等.一种协作型机器人运动性能分析与仿真［J］.智能系统学报，2017，12（1）：75-81.

HU Mingwei，WANG Hongguang，PAN Xin'an，et al.Analysis and simulation on kinematics performance of a collaborative robot［J］.CAAI Transactions on Intelligent Systems，2017，12（1）：75-81.

HADDADIN S S.Towards safe robots：approaching asimov's 1st law［M］.Berlin：Springer Berlin Heidelberg，2014：1-5.

VANDERBORGHT B，ALBU-SCHAEFFER A，BICCHI A，et al.Variable impedance actuators：a review［J］.Robotics and Autonomous Systems，2013，61（12）：1601-1614.

栾玉亮，荣伟彬，孙立宁.基于有限元方法的3-PPSR大长径比柔性并联机器人刚度模型分析［J］.机器人，2014，36（6）：730-736.

LUAN Yuliang，RONG Weibin，SUN Lining.Analysis on stiffness model of 3-PPSR flexible parallel robot with high aspect ratio based on finite element method［J］.Robot，2014，36（6）：730-736.

DONG C，LIU H，YUE W，et al.Stiffness modeling and analysis of a novel 5-DOF hybrid robot［J］.Mechanism and Machine Theory，2017，125：80-93.

YANG K，YANG W，CHENG G，et al.A new methodology for joint stiffness identification of heavy duty industrial robots with the counterbalancing system［J］.Robotics and Computer-integrated Manufacturing，2018，53：58-71.

DUMAS C，CARO S，CHERIF M，et al.Joint stiffness identification of industrial serial robots［J］.Robotica，2012，30（4）：649-659.

ABELE E，ROTHENBÜCHER S，WEIGOLD M.Cartesian compliance model for industrial robots using virtual joints［J］.Production Engineering，2008，2：339-343.

TSUMUGIWA T，FUKUI Y，YOKOGAWA R.Compliance measurement for the mitsubishi PA-10 robot［J］.Advanced Robotics，2014，28（14）：919-928.

SCHNEIDER U，MOMENI-K M，ANSALONI M，et al.Stiffness modeling of industrial robots for deformation compensation in machining［C］.Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems.New York：IEEE，2014：4464-4469.

HU M，WANG H，PAN X，et al.Research on elastic deformation modeling of collaborative robots［C］.Proceedings of the 2017 IEEE International Conference on Robotics and Biomimetics.New York：IEEE，2017：2462-2467.

ALICI G，SHIRINZADEH B.Enhanced stiffness modeling，identification and characterization for robot manipulators［J］.IEEE Transactions on Robotics，2005，21（4）：554-564.

PASHKEVICH A，KLIMCHIK A，CHABLAT D.Enhanced stiffness modeling of manipulators with passive joints［J］.Mechanism and Machine Theory，2011，46（5）：662-679.

PASHKEVICH A，KLIMCHIK A，CHABLAT D.Nonlinear effects in stiffness modeling of robotic manipulators［C］.International Conference on Computer and Automation Technology，2009，58：168-173.

ISO.Manipulating industrial robots-performance criteria and related test methods：ISO 9283：1998（E）［S］.Geneva：International Standards Organization，1998：23-30.

Views

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

Effect of Tooth Surface Friction on Bending Torsional Axial Pendular Coupling Nonlinear Amplitude Frequency Characteristic of Marine Herringbone Gear

Analysis of Gear Dynamic Characteristic of Oil Churning Resistance under Stochastic Disturbance

Nonlinear Frequency Response Analysis of Herringbone Gear Pair based on Incremental Harmonic Balance Method

Analysis of Nonlinear Dynamic Characteristic of Elliptic Gear with Friction

Optimal Synthesis of Pose Repeatability for a Collaborative Robot

Related Author

No data

Related Institution

School of Mechatronic Engineering， Xi'an Technological University

School of mechanical and power engineering，Harbin University of Science and Technology

School of mechatronics engineering，Harbin Institute of Technology

Jiangsu Shengan Transmission Co.， Ltd.

School of Mechanical Engineering， Guangxi University

⁰