工业机器人关节传动系统机电耦合振动特性分析

仪凌霄; 王之海; 柳小勤; 赖泽浪

doi:10.13433/j.cnki.1003-8728.20200407

工业机器人关节传动系统机电耦合振动特性分析

doi: 10.13433/j.cnki.1003-8728.20200407

仪凌霄^{1, 2,},
王之海^{1, 2, ,},
柳小勤^{1, 2},
赖泽浪^{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 2018YFB1306103

云南省教育厅科学研究基金项目 2018JS025

详细信息

作者简介:
仪凌霄(1995-), 硕士研究生, 研究方向为工业机器人关节机电耦合振动特性, 972603347@qq.com

通讯作者:
王之海, 副教授, 硕士生导师, wzh@kust.edu.cn

中图分类号: TH113
计量
- 文章访问数: 145
- HTML全文浏览量: 141
- PDF下载量: 28
- 被引次数: 0
出版历程
- 收稿日期: 2020-09-11
- 刊出日期: 2022-07-25

Analysis on Electromechanical Coupling Vibration Characteristics of Industrial Robot Joint Drive System

YI Lingxiao^{1, 2
,},
WANG Zhihai^{1, 2
, ,},
LIU Xiaoqin^{1, 2},
LAI Zelang^{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: 在工业机器人常规作业中, 由于关节处存在扭转振动和转矩脉动的现象, 使机器人关节传动系统的末端精度和响应速度受到了严重的影响。因此, 针对关节伺服传动系统的振动问题, 本文首先建立了关节传动系统机电耦合动力学模型, 并对系统的扭转振动与机电耦合振动进行分析。随后开展传动刚度、转动惯量等参数对系统谐振频率影响的研究, 并通过数值方法研究了磁链系数等电气参数与电流谐波频率对系统振幅与调节时间的影响, 最后分析了关节各元件对传动系统的振动影响。研究结果表明, 建立的传动机电耦合模型, 分析系统的扭振、机电耦合等振动特性可有效仿真工业机器人关节传动系统。
- 工业机器人 /
- 关节传动系统 /
- 机电耦合 /
- 振动特性
Abstract: The occurrences of torsional vibration and torque ripple at the joints of industrial robots during its operation are notoriously known for negatively impacting the actuating precision and responsiveness of robot joint drive system. Following this context, this paper addresses the vibration issues in the servo drive systems of robot joints by establishing a dynamic electromechanical coupling model of such system and then analyzing the resulting torsional vibration and electromechanical coupling vibration. Subsequently, the influencing relationships of various parameters, such as drive stiffness and moment of inertia on the system's resonant frequency, as well as electrical parameters (e.g., flux linkage) and the current's harmonic frequency on the vibration amplitude and conditioning time, were studied using numerical simulation methods. Lastly, the contributions of every component at the joint on the vibration of the drive system were analyzed. The results show that the established electromechanical coupling model, as well as the efforts made to analyze the system's vibration characteristics, such as the torsional vibration and electromechanical coupling, can effectively simulate the joints drive system dynamic characteristics of industrial robots.
- industrial robot /
- joint drive system /
- electromechanical coupling /
- vibration characteristics

HTML全文

图 1 关节系统机电耦合动力学模型

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图 2 各坐标系关系

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图 3 关节系统机电耦合模型

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图 4 关节系统双惯量模型

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图 5 系统伯德图

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图 6 系统零极点图

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图 7 影响谐振频率的参数图

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图 8 刚度与谐振频率关系图

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图 9 惯量比R与谐振频率关系图

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图 10 不同刚度电机-负载转速差波形图

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图 11 不同负载转动惯量电机-负载转速差波形图

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图 12 关节传动系统机电耦合仿真模型

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图 13 电流响应

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图 14 电磁转矩

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图 15 电流谐波含量

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图 16 磁链系数对关节传动系统振动的影响

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图 17 减速机角加速度时、频分析

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图 18 联轴器扭矩时、频分析

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图 19 负载角加速度时、频分析

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表 1 系统主要参数

参数名	参数值	参数名	参数值
极对数	P_n=4	开关频率	f_pwm=10 kHz
定子电感	L_q=12 mH	采样周期	T_S=10 μs
定子电阻	R=0.958 Ω	参考转速	N_ref=1 000 r/min
磁链	φ_f=0.1827 Wb	减速机转动惯量	J_m=0.012 5 kg·m²
电机转动惯量	J_e=0.01 kg·m²	轴系刚度	K=2 000 N·m/rad
阻尼系数	B=0.008 N·m·s	负载转动惯量	J_L=0.08 kg·m²
直流侧电压	U_dc=311 V	轴系阻尼	C=0.02 N·m/rad

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参考文献(15)

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