大型直角机器臂的刚度计算与阻尼设计

Stiffness Calculation and Damping Design of Large Rectangular Manipulator

针对机械臂将加减速到匀速或静止时,如何使垂直工作臂的摆动幅度在规定的范围内,本文设计了一大型直角机器臂来代替人工进行工作,从系统的刚度计算和阻尼值的确定两个方面进行了研究。根据机器人的结构,计算出等效刚度系数,建立系统模型,并利用Simulink的仿真环境,设定初始参数进行仿真分析。仿真结果表明,系统的水平位移在1s处达到了稳定状态,位移值为0.15mm(远小于3mm),在后续的设计中,b值不小于6 792N·s/m就可以满足设计要求。因此,合理有效的阻尼器将增大机械臂的刚性,使其运动平稳可靠。该研究为阻尼器的设计和选择提供了理论依据。

From a high acceleration or deceleration to a constant velocity or the stationary within a short time,the amplitude of the vertical arm of the rectangular manipulator is required a range of the limitation,and its response is required to approach the settling as soon as possible.This paper designs a large rectangular machine arm instead of manual work and presents firstly the computation of the stiffness as the structure of the manipulator for verifying the range of the amplitude.In following,the critical damping value effecting on the vertical arm of the manipulator was determined by the simulation based on Simulink on the settling time,which sets the initial parameters for the simulation analysis.The simulation result shows that horizontal displacement of the system reaches a steady state at the 1sand the value of displacement is 0.15mm（less than 3mm）.In the subsequent design,the value of bcan meet the design requirements unless the value is less than 6 792N·s/m.Reasonable and effective damper will increase the rigidity of mechanical arm and make it smooth and reliable movement.The research provides the basis for the design and selection of dampers.