• 智能制造 •

### 轮毂打磨5-DOF机械臂动力学建模与驱动参数预估

1. 1.燕山大学电气工程学院, 秦皇岛，066004
2.河北科技师范学院 机电工程学院,秦皇岛，066004
3.中信戴卡股份有限公司, 秦皇岛，066004
• 出版日期:2018-02-25 发布日期:2018-02-27
• 基金资助:
国家科技支撑计划资助项目（2015BAI06B01）；
河北省高等学校科学技术研究青年基金资助项目（QN2015185）；
秦皇岛市科技计划资助项目（201703A003)；
河北科技师范学院博士启动基金资助项目（2015YB004）
National Key Technology R&D Program (No. 2015BAI06B01)

### Dynamics Modeling and Drive Parameter Prediction of a 5-DOF Wheel Grinding Manipulator Arm

RONG Yu1,2,3;LIU Shuangyong3;WANG Hongbin1;HAN Yong3

1. 1.Institute of Electrical Engineering,Yanshan University,Qinhuangdao,Hebei,066004
2.College of Mechanical and Electrical Engineering,Hebei Normal University of Science and Technology,Qinhuangdao,Hebei,066004
3.CiTiC Dicastal Wheel Manufacturing Co., Ltd.,Qinhuangdao,Hebei,066004
• Online:2018-02-25 Published:2018-02-27
• Supported by:
National Key Technology R&D Program (No. 2015BAI06B01)

Abstract: A new type of 5-DOF manipulator arm was proposed based on the 2-UPS+UPU mechanisms. The explicit expression between the wrist movement states and the joint driving parameters was given, and the peak prediction model of servo motors for driving speeds and torques was obtained. Calculations show that the peak value of the driving motors' speeds is as 25.1r/s, and the peak value of the driving motors' torques is as 6.2N*m. Using a design scheme of the manipulator arm and its structure parameters as an example, and the calculation results show that the example's driving motor peak speed is as 18.7r/s, and the example's driving motor peak torque is as 4.73N*m. The predicted peak power of the example's servo motors is as 700W. The driving parameters' peak prediction model of the manipulator arm is more reasonable.