计及间隙耦合效应机械臂关节振动特性的研究

Study on Vibration Characteristics of Robot-Arm Joint with Clearance Coupling Effect

机器臂末端执行器运行精度的稳定直接关系到工程操作质量的优劣,特别是考虑机械臂铰间隙的动态振动特性对机械臂运行精度的稳定性有着重要工程意义。首先利用虚拟样机技术,建立起含铰间隙机械臂振动分析模型,并基于自由振动系统角度对其各阶固有频率和主振模型进行模态研究,为阐明机械臂各个关节激振频率曲线响应特征,考虑间隙耦合效应分别对系统模型采用自由扰动激振与受迫振动模态展开分析,最终研究结果有效得到了不同机械臂结构在工况振动系统中相关频率参数的敏感范围,为机械臂机构的设计和优化提供有力的理论支撑。

The stable running accuracy of the end-effector of the robot-arm is directly related to the quality of engineering operations,and the research on the operation accuracy of the robot-arm is of great theoretical significance and engineering value,especially in the precision manufacturing field where the coupling effect of dynamic vibration is required to be taken into account.Firstly,the vibration analysis model of manipulator with hinge clearance was established by virtual prototype technology in the paper,and the modes of the natural frequencies and the main vibration models were studied based on the angle of free vibration system.In order to clarify the response characteristics of the excitation vibration frequency curve of each joint of robot-arm,the free disturbance excitation and the forced vibration mode of the system model were analyzed respectively in consideration of the gap coupling effect.The final results show that the sensitive range of the relevant parameters was effectively obtained about the robotarm structure in the vibration system under working conditions from the paper research work,and which could provide theoretical support for the design and optimization of the robot-arm.