Research on Dynamic Characteristics of Robot Joint System Under Impact Load

Shuai Mo; Xu Li; Zhenning Yang; Changpeng Zhou; Guojian Cen; Yunsheng Huang

doi:10.16578/j.issn.1004.2539.2022.08.001

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Research on Dynamic Characteristics of Robot Joint System Under Impact Load

Theory·Reserach | 更新时间：2022-09-23

- Research on Dynamic Characteristics of Robot Joint System Under Impact Load
- Journal of Mechanical Transmission Vol. 46, Issue 8, Pages: 1-7(2022)
- 作者机构：
  
  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.江苏万基传动科技有限公司，江苏泰州 225400
  4.宁波中大力德智能传动股份有限公司，浙江宁波 315301
  5.深圳市合发齿轮机械有限公司，广东深圳 518109
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2022.08.001
  CLC：
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莫帅,李旭,杨振宁等.冲击载荷下机器人关节系统动态特性研究[J].机械传动,2022,46(08):1-7.

Mo Shuai,Li Xu,Yang Zhenning,et al.Research on Dynamic Characteristics of Robot Joint System Under Impact Load[J].Journal of Mechanical Transmission,2022,46(08):1-7.
莫帅,李旭,杨振宁等.冲击载荷下机器人关节系统动态特性研究[J].机械传动,2022,46(08):1-7. DOI： 10.16578/j.issn.1004.2539.2022.08.001.

Mo Shuai,Li Xu,Yang Zhenning,et al.Research on Dynamic Characteristics of Robot Joint System Under Impact Load[J].Journal of Mechanical Transmission,2022,46(08):1-7. DOI： 10.16578/j.issn.1004.2539.2022.08.001.

摘要

为了研究微型机器人关节在非稳定工作状态下的机电耦合作用机理，考虑误差以及齿轮啮合时变刚度，采用集中参数法，建立了电机拖动二级串联行星齿轮传动系统的机电耦合模型，计算求解得到了系统的固有频率以及质量参数对系统固有频率的影响、模态能的分布规律，分析了在冲击载荷下齿轮系统的扭振特性。结果表明，零件质量增加将使系统固有频率降低；系统模态能主要表现为低阶扭转振动应变能和高阶动能；在冲击过程中，系统表现为1阶固有频率与1倍啮合频率主导的振动模式。

Abstract

In order to study the electromechanical coupling mechanism of the micro-robot joints in the unsteady working state and considering the time-varying stiffness and error of gear meshing， a lumped parameter method is adopted to establish an electromechanical coupling model of the motor-driven two-stage series planetary gear transmission system. The influence of the natural frequency， and quality parameters of the system on the natural frequency of the system and the distribution law of modal energy is calculated and the torsional vibration characteristics of the gear system under impact load are analyzed. The research results show that as the quality of parts increases， the natural frequency of the system shows a downward trend. The modal energy of the system is mainly manifested as low-order torsional vibration strain energy and high-order kinetic energy. During the impact process， the system behaves as a vibration mode dominated by a first-order natural frequency and a one-time meshing frequency.

关键词

机电耦合行星传动冲击载荷固有特性振型

Keywords

Electromechanical couplingPlanetary transmissionImpact loadInherent characteristicsVibration mode

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