[1]张世杰,梁 乐,马清伍,等.高速重载码垛机器人刚柔耦合模型建立及动态特性分析方法[J].机械与电子,2016,(01):67-71.
　ZHANG Shijie,LIANG Le,MA Qingwu,et al.A Method for Rigid-flexible Coupling Modeling and Dynamic Characteristic Analysis of High-speed and Heavy-load Palletizing Robots[J].Machinery & Electronics,2016,(01):67-71.
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高速重载码垛机器人刚柔耦合模型建立及动态特性分析方法
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2016年01期
页码:
67-71
栏目:
智能工程
出版日期:
2016-01-25

文章信息/Info

Title:
A Method for Rigid-flexible Coupling Modeling and Dynamic Characteristic Analysis of High-speed and Heavy-load Palletizing Robots
文章编号:
1001-2257(2016)01-0067-05
作者:
张世杰; 梁 乐; 马清伍; 刘延杰
(哈尔滨工业大学机器人技术与系统国家重点实验室,黑龙江 哈尔滨 150001)
Author(s):
ZHANG Shijie; LIANG Le; MA Qingwu; LIU Yanjie
(State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150001,China)
关键词:
高速重载;  关节柔性;  模态分析;  动态特性
Keywords:
high-speed and heavy-load;  joint flexibility;  modal analysis;  dynamic characteristic
分类号:
TP242
文献标志码:
A
摘要:
针对高速码垛机器人高速、高加速度、大负载的工作特性,提出一种考虑关节柔性的高速重载码垛机器人结构建模及动态特性分析方法。首先,建立刚柔耦合动力学模型,对高速重载码垛机器人的关节柔性进行描述; 其次,基于建立的刚柔耦合动力学模型,对机器人的重要动态特性——振动模态进行分析; 最后,设计力锤瞬态激励实验,对2种方法的有效性进行验证。实验结果表明,该结构建模方法有效地分析了高速重载码垛机器人关节柔性的影响,动态特性分析方法有效地分析了机器人的振动模态。
Abstract:
Considering the high speed, high acceleration, heavy-load palletizing robot's working characteristics, a structural modeling and dynamic characteristics of high speed and heavy-load palletizing robot analysis method that considers joint flexibility is proposed. First of all, the rigid-flexible coupling dynamics model is established to describe the high-speed heavy-load palletizing robot's joints flexibility; secondly, the robot's important dynamic characteristic--vibration modal analysis is made, on the basis of the rigid-flexible coupling model; finally, design hammer transient excitation force is imposed on a experiment to verify the effectiveness of the two methods. The results show that the structural modeling method can effectively analyze the impact of high speed heavy-load palletizing robot's flexible joints and the dynamic characteristics analysis method is effective is analyzing the vibration models of the robot.

参考文献/References:

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[3] Dhaouadi R,Ghorbel F H,Gandhi P S. A new dynamic model of hysteresis in harmonic drives[J]. IEEE Transactions on Industrial Electronics,2003,50(6):1165-1171.
[4] Ghorbel F H,Gandhi P S,Alpeter F. On the kinematic error in harmonic drive gears [J].Journal of Mechanical Design,2001,123(1):90-97.
[5] 张静,郭宏伟,刘荣强,等.空间含铰可展桁架结构的非线性动力学建模与分析[J].西安交通大学学报,2013,47(11):113-119.
[6] Li Q,Wu F X. Control performance improvement of parallel robot via the design for control approach [J]. Mechatronics,2004,14(8):947-964.

相似文献/References:

[1]刘延杰,马清伍,梁 乐,等.一种考虑柔性的码垛机器人动力学性能优化方法[J].机械与电子,2015,(10):57.
　LIU Yanjie,MA Qingwu,LIANG Le,et al.A Method for Dynamic Characteristics Optimization of Flexible Palletizing Robot[J].Machinery & Electronics,2015,(01):57.

备注/Memo

备注/Memo:
收稿日期:2015-09-09
基金项目:国家“八六三”计划项目(2013AA040901); 黑龙江省创新专项(YC13D004)
作者简介:张世杰(1992-),男,河南驻马店人,硕士研究生,研究方向为工业机器人结构优化及控制系统设计; 刘延杰(1975-),男,黑龙江哈尔滨人,教授,研究方向为机器人技术。
更新日期/Last Update: 2016-01-25