Dynamic modeling and analysis for a differential modular robot joint with the friction model

Yukun Liu, Ruiqing Luo, Minghui He, Liang Du, Sheng Bao, Jianjun Yuan, Weiwei Wan
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Abstract

The study of friction has long been popular with scientists. Considering the coupling characteristic of multi-input-multi-output (MIMO) system, the coupling friction model was established, which was based on Coulomb-Viscous friction model for the differential modular robot joint (DMRJ) according to the law of conservation of energy. Then, we identified the coefficients of the friction model through the experiment. In order to verify the accuracy of the established friction model, we regarded the DMRJ as a 2-DoF linkage and built the inertial dynamic model based on Lie theory, whose inertial parameters were estimated by computer aided design (CAD). Besides, we chose the trajectory based on the Fourier series, which has good performance in anti-interference ability, as the verification trajectory. From the generated trajectories, we used a trajectory that is able to change as much as possible in speed, position and acceleration to estimate the accuracy of the model comprehensively. Finally, the result indicated the model had good accuracy.
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基于摩擦模型的差动模块化机器人关节动力学建模与分析
对摩擦的研究一直受到科学家们的欢迎。考虑多输入-多输出(MIMO)系统的耦合特性,根据能量守恒定律,建立了基于库仑-粘性摩擦模型的差分模块化机器人关节(DMRJ)耦合摩擦模型。然后,通过实验确定了摩擦模型的系数。为了验证所建立的摩擦模型的准确性,将DMRJ视为二自由度机构,基于李氏理论建立了其惯性动力学模型,并利用计算机辅助设计(CAD)对其惯性参数进行了估计。此外,我们选择了抗干扰能力较好的基于傅立叶级数的轨迹作为验证轨迹。从生成的轨迹中,我们使用了一个能够在速度、位置和加速度上尽可能改变的轨迹来综合估计模型的精度。结果表明,该模型具有较好的精度。
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