面向电流信息与模态分析的工业机器人关节振动求解研究

赖泽浪; 王之海; 柳小勤; 李佳慧; 冯正江

doi:10.13433/j.cnki.1003-8728.20220226

面向电流信息与模态分析的工业机器人关节振动求解研究

doi: 10.13433/j.cnki.1003-8728.20220226

赖泽浪^{1, 2,},
王之海^{1, 2, ,},
柳小勤^{1, 2},
李佳慧^{1, 2},
冯正江^{1, 2}

1.
昆明理工大学机电工程学院, 昆明 650500
2.
云南省先进装备智能制造技术重点实验室, 昆明 650500

基金项目:

国家重点研发计划项目 2018YFB1306103

国家自然基金项目 52165065

国家自然基金项目 52165067

详细信息

作者简介:
赖泽浪, 硕士研究生, lzl_kust@163.com

通讯作者:
王之海, 副教授, 硕士生导师, wzh_kust@163.com

中图分类号: TP242.2
计量
- 文章访问数: 72
- HTML全文浏览量: 46
- PDF下载量: 31
- 被引次数: 0
出版历程
- 收稿日期: 2021-12-24
- 刊出日期: 2024-01-25

Research on Joint Vibration Solution of Industrial Robot for Current Information and Modal Analysis

LAI Zelang^{1, 2
,},
WANG Zhihai^{1, 2
, ,},
LIU Xiaoqin^{1, 2},
LI Jiahui^{1, 2},
FENG Zhengjiang^{1, 2}

1.
Faculty of Mechanical and Electrical Engineering, Kunming University of Science and Technology, Kunming 650500, China
2.
Laboratory of Advanced Equipment Manufacturing Technology of Yunnan Province, Kunming 650500, China

摘要

摘要: 在工业机器人健康监测中，针对需采用振动传感器对机器人各关节逐一检测而引起测试成本剧增问题，提出一种基于电流信息与模态分析的关节振动求解方法，该方法可由关节电流经模态转换直接获取关节振动信息。首先，将关节电流信息引入，建立基于关节电流的工业机器人振动模型。然后，由有限元法进行模态分析获取机器人前6阶振型，便于后续模态试验优化测点布置。接着，在力锤激励试验中，基于优化后的测点，测取工业机器人系统质量、刚度等模态参数。之后，将驱动力矩与模态参数带入该模型进行龙格库塔数值求解，得到机器人各关节振动响应。最后，在指定关节转角运行的关节单动与联动实测振动数据验证了本文提出算法的正确性。
- 工业机器人 /
- 关节电流 /
- 有限元 /
- 关节振动 /
- 模态分析
Abstract: In health monitoring of industrial robots, a joint vibration solution method based on current information and modal analysis was proposed to solve the problem of increasing testing cost caused by the need to use vibration sensors to detect each joint one by one. Firstly, the joint current information is introduced to establish the vibration model of industrial robot based on joint current. Then, the modal analysis is carried out by the finite element method to obtain the first 6 vibration modes of the robot, so as to optimize the layout of measuring points for subsequent modal tests. Then, in the force hammer excitation experiment, based on the optimized measuring points, the modal parameters such as mass and stiffness of the industrial robot system are measured. After that, the driving torque and modal parameters were put into the model to solve the Runge-Kutta numerical solution, and the vibration response of each joint of the robot was obtained. Finally, the proposed algorithm is validated by the measured vibration data of single and linkage joints running at a specified joint angle.
- industrial robot /
- joint current /
- finite element method /
- joint vibration /
- modal analysis

HTML全文

图 1 钱江QJR6-1型机器人

Figure 1. Qianjiang QJR6-1 robot

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图 2 机器人前6阶振型

Figure 2. The first 6th mode shape of the robot

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图 3 模态测试关键测点优化布置区域

Figure 3. Optimal layout of key measurement points in modal

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图 4 模态测试系统

Figure 4. Modal test system

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图 5 关节振动物理模型

Figure 5. Physical model of joint vibration

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图 6 机器人关节振动试验现场

Figure 6. Robot joint vibration test site

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图 7 单关节运动理论与实测振动时频域对比

Figure 7. Comparison of single-joint motion theory and measured vibration in the time-frequency domain

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图 8 多关节联动理论与实测振动频域对比

Figure 8. Comparison of multi-joint linkage theory and measured vibration frequency domain

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表 1 机器人前6阶仿真模态分析

Table 1. Mode analysis of the first 6 stages of robot simulation

阶数	固有频率ω_n/Hz	振型情况
1	19.65	绕关节5的转动
2	33.5	绕关节5的前后摆动
3	55.96	绕关节4的扭动
4	108.78	小臂的上下摆动
5	154.9	大臂的前后摆动
6	425.41	绕大臂的自身扭动

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表 2 机器人模态试验前6阶模态参数

Table 2. Six-order modal parameters before the robot modal test

阶数	固有频率ω_n/Hz	阻尼比ζ_i/%	模态质量m_ri/kg	模态刚度k_ri/10³ (N·m^-1)
1	11.58	6.78	0.50	2.92
2	28.27	1.94	0.50	17.53
3	50.73	3.25	0.25	27.42
4	112.62	6.56	0.56	59.41
5	158.17	2.65	0.46	88.75
6	422.04	2.39	0.08	135.62

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表 3 工业机器人路径规划

Table 3. Path planning of industrial robots

机器人关节i	一	二	三	四	五	六
角度/(°)	90	60	60	90	30	90

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表 4 机器人关节数据采集设备

Table 4. Robot joint data acquisition equipment

设备	单向加速度传感器	电流互感器	采集卡
型号	PCB306C01	ZHTK25	NI9234

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表 5 机器人关节运动的理论与实测振动MSE

Table 5. Theoretical and measured vibration MSE of robot joint motion

MSE	关节一	关节二
单关节运动时域	0.0 325	0.0 084
单关节运动频域	0.0 003	0.0 010
多关节联动频域	0.0 012	0.0 017

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