含间隙关节的双推杆机械臂运动特性研究

doi:10.3969/j.issn.1004-132X.2022.11.007

中国机械工程 ›› 2022, Vol. 33 ›› Issue (11): 1309-1316.DOI: 10.3969/j.issn.1004-132X.2022.11.007

含间隙关节的双推杆机械臂运动特性研究

赵富强1,2;李钊钰1;高智颖1;吴红庆1;牛志刚2

1.太原科技大学重型机械教育部工程研究中心，太原，030024
2.太原理工大学极地工程与装备研究院，太原，030024

出版日期:2022-06-10 发布日期:2022-07-01
通讯作者: 李钊钰（通信作者），男，1996年生，硕士研究生。研究方向为机器人运动误差。E-mail：1445961920@qq.com。
作者简介:赵富强，男，1981年生，副教授。研究方向为机构与汽车动力学、新能源车辆等。E-mail：zfqgear@163.com。
基金资助:
山西省自然科学基金重点项目（201901D111009ZD）；山西省科技计划揭榜招标项目（20201101020）

Study on Motion Characteristics of Double Push Rod Manipulators with Joint Clearances

ZHAO Fuqiang1,2;LI Zhaoyu1;GAO Zhiying1;WU Hongqing1;NIU Zhigang2

1.Heavy Machinery Engineering Research Center of the Ministry of Education,Taiyuan University of Science and Technology，Taiyuan，030024
2.Institute of Polar Engineering and Equipment,Taiyuan University of Technology，Taiyuan，030024

Online:2022-06-10 Published:2022-07-01

摘要/Abstract

摘要： 建立了间隙关节的数学模型和含间隙关节的双推杆机械臂运动学模型；利用仿真模拟分析了单间隙关节A、单间隙关节B、双间隙关节A和B三种不同间隙关节位置和数量对机械臂末端轨迹、速度和加速度的影响，并采用绝对误差作为评价指标对影响程度进行了定量分析；搭建实验台对仿真结果进行了实验验证。结果表明，间隙关节导致机械臂末端运动轨迹在X轴和Y轴方向产生误差，且双间隙关节A和B造成的轨迹误差近似为两个单间隙关节的轨迹误差之和；机械臂末端速度和加速度曲线因间隙的存在而产生脉冲波动，其中单间隙关节A和单间隙关节B对曲线的影响程度相当，双间隙关节A和B在耦合作用下对曲线的影响程度远大于单间隙关节的影响程度。

关键词: 间隙关节, 双推杆机械臂, 运动特性, 平均绝对误差

Abstract: A mathematical model of the joint clearances and the kinematic model of the double push rod manipulators with joint clearances were established. The influences of the position and number of three different joint clearances including single joint clearance A, single joint clearance B, double joint clearance A and B on the trajectory, velocity and acceleration of the ends of the manipulators were analyzed by using simulation, and the absolute errors were used as the evaluation index to quantitatively analyze the influence degree. An experimental platform was built to verify the simulation results. The results show that, joint clearances lead to errors in the X-axis and Y-axis directions of the end motion trajectories of the manipulators, and the track errors caused by double joint clearance A and B are approximately the sum of the track errors of two single joint clearances. The velocity and acceleration curves at the ends of the manipulators are pulse fluctuations due to the existence of clearances. The influence degree of single joint clearances A and single joint clearances B on the curve is similar, and the influence degree of double joint clearances A and B on the curve under coupling is much greater than that of single joint clearances.

Key words: joint clearance, double push rod manipulator, motion characteristics, mean absolute error

中图分类号:

TP242

赵富强, 李钊钰, 高智颖, 吴红庆, 牛志刚. 含间隙关节的双推杆机械臂运动特性研究[J]. 中国机械工程, 2022, 33(11): 1309-1316.

ZHAO Fuqiang, LI Zhaoyu, GAO Zhiying, WU Hongqing, NIU Zhigang. Study on Motion Characteristics of Double Push Rod Manipulators with Joint Clearances[J]. China Mechanical Engineering, 2022, 33(11): 1309-1316.

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含间隙关节的双推杆机械臂运动特性研究

Study on Motion Characteristics of Double Push Rod Manipulators with Joint Clearances

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