Design and Stability Analysis of Flexible Joint of Rescue Robot
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摘要: 为了提高救援机器人在非结构环境中的顺应能力,引入传动机构等效质量的概念,考虑电机内部阻尼对弹性驱动器动力学模型的影响,建立了基于力源驱动的串联弹性驱动器动力学模型。采用PID单位负反馈的控制方式,通过Laplace变换得到系统的开环传递函数与闭环传递函数,运用Nyquist判据与Bode图分析了系统的稳定性。通过仿真实验,得到了系统的阶跃信号跟踪响应。仿真结果与频域特性分析结果对比,验证了救援机器人柔性关节结构设计的合理性与稳定性。
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关键词:
- 救援机器人 /
- 串联弹性驱动器(SEA) /
- 柔性关节 /
- 稳定性分析 /
- 动力学模型
Abstract: In order to improve the adaptability of rescue robots in unstructured environment, the concept of equivalent mass of the transmission mechanism is introduced, and the influence of the internal damping of the motor on the dynamic model of the elastic actuator is considered, and the dynamic model of the series elastic actuator based on the force source drive is established. Using PID unit negative feedback control method, the open-loop transfer function and closed-loop transfer function of the flexible joint system are obtained by Laplace transform, and the stability of the system is analyzed using Nyquist criterion and Bode diagram. Through simulation experiments, the system′s step signal tracking response is obtained. By comparing the simulation results with the analysis results of the frequency domain characteristics, the rationality and stability of the flexible joint structure design of the rescue robot are further verified.-
Key words:
- rescue robot /
- series elastic actuator (SEA) /
- flexible joint /
- stability analysis /
- dynamic model
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表 1 不同弹簧刚度下开环传递函数特征方程的根
弹簧刚度ks/(N·mm−1) 特征方程的根 1 −0.0250+0.315 2i;−0.0250−0.315 2i 5 −0.0250+0.706 7i;−0.0250−0.706 7i 10 −0.0250+0.999 7i;−0.0250−0.999 7i 15 −0.0250+1.224 5i;−0.0250−1.224 5i 表 2 不同弹簧刚度下闭环传递函数特征方程的根
弹簧刚度ks/
(N·mm−1)特征方程的根 1 −0.1118+1.756 7i;−0.111 8−1.756 7i;−0.0065 5 −0.4718+3.907 9i;−0.471 8−3.907 9i;−0.0065 10 −0.9218+5.489 8i;−0.9218−5.489 8i;−0.0065 15 −1.3718+6.678 4i;−1.3718−6.678 4i;−0.0065 -
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