工业机器人关节传动系统机电耦合振动特性分析

Analysis on Electromechanical Coupling Vibration Characteristics of Industrial Robot Joint Drive System

在工业机器人常规作业中,由于关节处存在扭转振动和转矩脉动的现象,使机器人关节传动系统的末端精度和响应速度受到了严重的影响。因此,针对关节伺服传动系统的振动问题,本文首先建立了关节传动系统机电耦合动力学模型,并对系统的扭转振动与机电耦合振动进行分析。随后开展传动刚度、转动惯量等参数对系统谐振频率影响的研究,并通过数值方法研究了磁链系数等电气参数与电流谐波频率对系统振幅与调节时间的影响,最后分析了关节各元件对传动系统的振动影响。研究结果表明,建立的传动机电耦合模型,分析系统的扭振、机电耦合等振动特性可有效仿真工业机器人关节传动系统。

The occurrences of torsional vibration and torque ripple at the joints of industrial robots during its operation are notoriously known for negatively impacting the actuating precision and responsiveness of robot joint drive system.Following this context,this paper addresses the vibration issues in the servo drive systems of robot joints by establishing a dynamic electromechanical coupling model of such system and then analyzing the resulting torsional vibration and electromechanical coupling vibration.Subsequently,the influencing relationships of various parameters,such as drive stiffness and moment of inertia on the system′s resonant frequency,as well as electrical parameters(e.g.,flux linkage)and the current′s harmonic frequency on the vibration amplitude and conditioning time,were studied using numerical simulation methods.Lastly,the contributions of every component at the joint on the vibration of the drive system were analyzed.The results show that the established electromechanical coupling model,as well as the efforts made to analyze the system′s vibration characteristics,such as the torsional vibration and electromechanical coupling,can effectively simulate the joints drive system dynamic characteristics of industrial robots.