复杂机电耦合下柔性机器人机械臂的动态与振动特性

IF 0.6 Q4 ENGINEERING, MECHANICAL Journal of Measurements in Engineering Pub Date : 2022-11-26 DOI:10.21595/jme.2022.22836
Wenhui Zhang, Zhi Wen, Yangfan Ye, Jinmiao Shen, X. Ye
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引用次数: 0

摘要

针对RP(旋转并联)柔性机器人关节处复杂的机电耦合效应,研究了交流伺服电机驱动的机电耦合动力学和振动响应特性,以及电机的动态启动特性。建立了包括电磁和机械耦合在内的系统物理模型,并基于整体机电耦合效应和拉格朗日麦克斯韦方程推导了整个系统的动力学模型。借助Matlab/Simulink搭建了虚拟仿真平台,对电机驱动端输出速度特性和运动底座的运动进行了分析。最后,通过Matlab/Simulink动态仿真模型和Adams/controls虚拟样机模型的联合仿真,得到了机电耦合作用下柔性机械臂的振动特性。仿真结果表明,电机驱动端的机电耦合效应对柔性机械手的动态特性有显著影响。所得结论对提高柔性机械的手性能具有重要的参考价值。
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Dynamic and vibration characteristics of flexible robot manipulator under complex electromechanical coupling
Aiming at the complex electromechanical coupling effect at the joints of RP (rotating parallel) flexible robot, the electromechanical coupling dynamics and vibration response characteristics driven by AC servo motor, as well as the dynamic starting characteristics of the motor are studied. The physical model including electromagnetic and mechanical system coupling is established, and the dynamic model of the whole system is derived based on the overall electromechanical coupling effect and Lagrange Maxwell equation. With the help of Matlab/Simulink, a virtual simulation platform is built to analyze the output speed characteristics of the motor drive end and the motion of the moving base. Finally, through the joint simulation of Matlab/Simulink dynamic simulation model and Adams/controls virtual prototype model, the vibration characteristics of flexible manipulator under electromechanical coupling are obtained. The simulation results show that the electromechanical coupling effect of the motor drive end has a significant impact on the dynamic characteristics of the flexible manipulator. The conclusions obtained are of great value for improving the chiral energy of flexible machinery.
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来源期刊
Journal of Measurements in Engineering
Journal of Measurements in Engineering ENGINEERING, MECHANICAL-
CiteScore
2.00
自引率
6.20%
发文量
16
审稿时长
16 weeks
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