Establishment of Hysteresis Stiffness Model and Kinematic Precision Analysis of Manipulators

He Junkai; Yue Xiaoli; Li Yuliang; Ma Feihong

doi:10.16578/j.issn.1004.2539.2022.11.004

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Establishment of Hysteresis Stiffness Model and Kinematic Precision Analysis of Manipulators

Theory·Research | 更新时间：2022-12-01

- Establishment of Hysteresis Stiffness Model and Kinematic Precision Analysis of Manipulators
- Journal of Mechanical Transmission Vol. 46, Issue 11, Pages: 21-26(2022)
- 作者机构：
  
  1.东华大学机械工程学院，上海 201620
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2022.11.004
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何捃恺,岳晓丽,李玉良等.机械臂迟滞刚度模型的建立及其运动精度分析[J].机械传动,2022,46(11):21-26.

He Junkai,Yue Xiaoli,Li Yuliang,et al.Establishment of Hysteresis Stiffness Model and Kinematic Precision Analysis of Manipulators[J].Journal of Mechanical Transmission,2022,46(11):21-26.
何捃恺,岳晓丽,李玉良等.机械臂迟滞刚度模型的建立及其运动精度分析[J].机械传动,2022,46(11):21-26. DOI： 10.16578/j.issn.1004.2539.2022.11.004.

He Junkai,Yue Xiaoli,Li Yuliang,et al.Establishment of Hysteresis Stiffness Model and Kinematic Precision Analysis of Manipulators[J].Journal of Mechanical Transmission,2022,46(11):21-26. DOI： 10.16578/j.issn.1004.2539.2022.11.004.

摘要

鉴于机械臂关节中谐波减速器存在迟滞效应，且当其承受交变负载力矩时滞后环节会对其输出精度产生较大影响；多自由度机械臂运动时各个关节所受的负载为非恒定值，分析机械臂末端运动精度时需要考虑关节中谐波减速器的滞后环节；提出了一种具有迟滞效应的刚度模型。结合Stribeck摩擦模型，建立了机械臂动力学模型，通过求解该模型，得到考虑谐波减速器扭转角滞后性的机械臂末端运动轨迹；建立运动精度指标，研究分析了谐波减速器的滞后角及扭转刚度对机械臂运动轨迹精度的影响。研究结果可为机械臂关节中谐波减速器的工程设计提供参考。

Abstract

Considering the hysteresis effect of the harmonic reducer in the joint and that when the joint is subject to alternating load torques, the hysteresis effect will have great influence on the output precision. However, the load on each joint of the multi-DOF manipulator is not constant and the hysteresis effect of harmonic reducers in the joint should be considered when analyzing the precision of the manipulator's end motion. A stiffness model with the hysteresis effect is proposed. Combined with the Stribeck friction model, a dynamic model of the manipulator is established. By solving the model, the end motion trajectory of the manipulator considering the hysteresis of the harmonic reducer's torsional angle is obtained. The motion accuracy index is established and the influence of the hysteresis angle and torsional stiffness of harmonic reducers on the trajectory accuracy of manipulators is analyzed. The results can provide reference for the harmonic reducer in the engineering design process of manipulators.

关键词

机械臂谐波减速器迟滞效应动力学建模

Keywords

ManipulatorHarmonic reducerHysteresis effectDynamics modeling

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