[1]杨立欢,陈惠贤.关节铰接双面接触摩擦对医用机械臂影响分析[J].机械与电子,2020,(01):76-80.
　.Analysis of the Influence of Double-sided Contact Friction of Articulated Joint on Medical Manipulator[J].Machinery & Electronics,2020,(01):76-80.
点击复制

关节铰接双面接触摩擦对医用机械臂影响分析()

分享到：

机械与电子[ISSN:1001-2257/CN:52-1052/TH]

Title:: Analysis of the Influence of Double-sided Contact Friction of Articulated Joint on Medical Manipulator

Author(s):: ＹＡＮＧＬｉｈｕａｎ; ＣＨＥＮＨｕｉｘｉａｎ; ＳｃｈｏｏｌｏｆＭｅｃｈａｎｉｃａｌａｎｄＥｌｅｃｔｒｉｃａｌＥｎｇｉｎｅｅｒｉｎｇ，ＬａｎｚｈｏｕＵｎｉｖｅｒｓｉｔｙｏｆＴｅｃｈｎｏｌｏｇｙ，Ｌａｎｚｈｏｕ７３００５０，Ｃｈｉｎａ

Keywords:: ｍｅｄｉｃａｌｍａｎｉｐｕｌａｔｏｒ; ｔｗｏｓｉｄｅｄｃｏｎｔａｃｔｆｒｉｃｔｉｏｎ; ｄｙｎａｍｉｃｓｍｏｄｅｌｉｎｇ; ｅｎｄｐｏｓｉｔｉｏｎ; ｓｉｍｕｌａｔｉｏｎａｎａｌｙｓｉｓ

摘要:: 以医用机械臂为研究对象，同时考虑关节旋转铰接圆柱面及端面２处的摩擦，提出端面接触系数，利用达朗伯定理对医用机械臂进行动静力学分析求得两接触面处的法向接触力，并基于库仑摩擦模型求得两接触面摩擦力矩，结合拉格朗日方程建立了不包含摩擦及包含摩擦的２种动力学模型，通过仿真求解分析得出对于所研究的医用机械臂及结构相类似的机械臂，铰接端面处的摩擦对机械臂关节输出扭矩及末端位置影响大于圆柱面处摩擦的影响，端面接触程度越高造成能量损失越大，机械臂末端位置轨迹越混乱。

Abstract:: Taking the medical manipulator as the research object, considering the friction between the cylindrical surface and the end surface of the rotating articulated joint, and putting forward the contact coefficient of the end surface, the normal contact force at the two contact surfaces of the medical manipulator was obtained by the dynamic and static analysis of the medical manipulator using the Daramber theorem, and the friction torque at the two contact surfaces was obtained based on the Coulomb friction model. Based on Lagrange equation, two kinds of dynamic models including friction and no friction were established. For a medical manipulator similar to the structure studied in this paper, the influence of friction at the articulated end on the output torque and the end position of the manipulator is greater than that of friction at the cylindrical end. The higher the contact degree of the end face is, the greater the energy loss is, and the more chaotic the trajectory of the end position of the manipulator is.

［１］姜万荣，朱锡旭．放射肿瘤学技术进展［Ｊ］．现代肿瘤

医学，２０１２，２０（４）：３３- ３４．

［２］ＳＯＴＩＲＩＯＳＳ．Ｔｈｅｐｈｙｓｉｃｓｏｆｒａｄｉａｔｉｏｎｔｈｅｒａｐｙ［Ｊ］．ＭｅｄｉｃａｌＰｈｙｓｉｃｓ，２０１０，３７（３）：１３７４- １３７５．

［３］ＣＡＲＩＧＪ．Ｉｎｔｒｏｕｃｔｉｏｎｔｏｒｏｂｏｔｉｃｓ［Ｍ］．ＮｅｗＹｏｒｋ：ＡｄｄｉｓｏｎＷｅｓｌｅｙＰｕｂｌｉｓｈｉｎｇＣｏｍｐａｎｙ，１９８６．

［４］ＡＬＩＮＡＳ，ＧＥＲＤＨ．Ａｇｌｏｂａｌｌｙｓｔａｂｌｅｓｔａｔｅｆｅｅｄｂａｃｋｃｏｎｔｒｏｌｌｅｒｆｏｒｆｌｅｘｉｂｌｅｊｏｉｎｔｒｏｂｏｔｓ［Ｊ］．ＡｄｖａｎｃｅｄＲｏｂｏｔｉｃｓ，２００１，１５（８）：７９９- ８１４．

［５］吴文祥，朱世强，王宣银，等．基于摩擦模糊建模与补偿的机器人低速控制［Ｊ］．电机与控制学报，２０１３，１７（８）：４６- ５３．

［６］翟敬梅，康博，张铁．六自由度喷涂机器人动力学分析及仿真［Ｊ］．机械设计与制造，２０１２（１）：１６９- １７１．

［７］刘鹏，王强，张伟．机械臂动力学建模及控制仿真［Ｊ］．

自动化与仪表，２０１７，３２（３）：９- １２．

［８］刘福才，刘彩凤，秦利，等．重力作用下的摩擦对空间机械臂运动控制的影响［Ｊ］．高技术通讯，２０１４，２４（１）：６５- ７１．

［９］朱松青，李永，高海涛，等．基于混合摩擦表达的机器人模块化关节动力学建模与仿真［Ｊ］．机械设计与制造工程，２０１９，４８（１）：５- ８．

备注/Memo:: 收稿日期：２０１９- ０８- ２６
作者简介：杨立欢（１９９４－），男，辽宁铁岭人，硕士研究生，研究方向为机械设计及理论，通信作者；陈惠贤（１９６６－），男，甘肃兰州人，教授，硕士研究生导师，研究方向为医疗设备及自动化。

更新日期/Last Update: 2020-01-13