救援机器人柔性关节的设计与稳定性分析

高康平; 展梓荃; 焦生杰; 魏孟; 徐信芯

doi:10.13433/j.cnki.1003-8728.20200109

救援机器人柔性关节的设计与稳定性分析

doi: 10.13433/j.cnki.1003-8728.20200109

长安大学公路养护装备国家工程实验室，西安　710064

基金项目: 国家自然科学基金青年项目（51805041）、河南省交通运输厅科技项目（2019J3）及新乡市重大科技专项（ZD19007）资助

详细信息

作者简介:
高康平（1994−），博士研究生，研究方向为机器人运动学动力学，系统结构分析，1442874043@qq.com

通讯作者:
焦生杰，教授，博士生导师，chd_jiao@163.com

中图分类号: TP242
计量
- 文章访问数: 335
- HTML全文浏览量: 88
- PDF下载量: 39
- 被引次数: 0
出版历程
- 收稿日期: 2020-04-27
- 网络出版日期: 2020-08-26
- 刊出日期: 2020-08-05

Design and Stability Analysis of Flexible Joint of Rescue Robot

National Engineering Laboratory for Highway Maintenance Equipment, Chang' an University, Xi′an 710064, China

摘要

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。
- 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.
- rescue robot /
- series elastic actuator (SEA) /
- flexible joint /
- stability analysis /
- dynamic model

HTML全文

图 1 柔性关节传动系统的组成

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图 2 柔性关节动力学模型

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图 3 柔性关节力源控制模型

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4 开环系统Nyquist和Nyquist图局部放大图

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图 5 开环系统Bode图

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图 6 闭环系统Nyquist图

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图 7 闭环系统Bode图

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图 8 变刚度阶跃力跟随曲线

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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k_s/(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

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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k_s/ (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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