轮毂打磨5-DOF机械臂动力学建模与驱动参数预估

中国机械工程

轮毂打磨5-DOF机械臂动力学建模与驱动参数预估

荣誉1,2,3;刘双勇3;王洪斌1;韩勇3

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.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)

摘要/Abstract

摘要： 提出了一种基于2-UPS+UPU机构的5-DOF机械臂，建立了机械臂的手腕运动状态与其关节驱动参数之间的传递方程显式表达式，从而得到机械臂的伺服电机驱动参数峰值预估模型，计算出各伺服电机中的驱动转速最大理论值为25.1r/s，驱动力矩最大理论值为6.2N*m。以一组具体的结构参数作为算例，计算出伺服电机中的驱动转速最大值为18.7r/s，驱动力矩最大值为4.73N*m，算例伺服电机选型的预估功率为700W，证明了伺服电机峰值驱动参数预估模型的合理性。

关键词: 机械臂, 轮毂打磨, 并联机构, 动力学分析, Lagrange方程, 峰值预估模型

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.

Key words: manipulator arm, wheel grinding, parallel mechanism, dynamics analysis, Lagrange equation, peak prediction model

中图分类号:

TP242.6

荣誉1,2,3;刘双勇3;王洪斌1;韩勇3. 轮毂打磨5-DOF机械臂动力学建模与驱动参数预估[J]. 中国机械工程.

RONG Yu1,2,3;LIU Shuangyong3;WANG Hongbin1;HAN Yong3. Dynamics Modeling and Drive Parameter Prediction of a 5-DOF Wheel Grinding Manipulator Arm[J]. China Mechanical Engineering.

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