重载六轴机器人大臂重力平衡研究

Research on Gravity Balance of Large Arm of Heavy-duty Six-axis Robot

在重载六轴机器人工作过程中,大臂频繁上升摆动,使电机不断克服重力势能做功,导致电机扭矩出现波动,并且会导致驱动能量耗散,影响电机和驱动器的寿命,造成零部件成本提高。基于能量平衡角度,对重载六轴机器人大臂的重力平衡进行研究。分析大臂驱动的零部件之间的运动耦合关系,基于连杆矩阵方法,通过数值搜索和几何作图,精确得到工作空间。在重力势能发生变化时,释放或存储平衡装置中的弹性势能,达到重力势能完全平衡,实现电机驱动的能量全部用于运动部件的动能传递,避免重力势能无用消耗。通过研究,得出重力平衡通用表达式和优化算法。

During the operation of heavy-duty six-axis robot,the large arm frequently rises and swings,causing the motor to continuously overcome gravitational potential energy to do work,resulting in fluctuation in motor torque and dissipation of driving energy,affecting the lifespan of the motor and driver,and increasing component cost.Based on the perspective of energy balance,the gravity balance of the large arm of heavy-duty six-axis robot was studied.By analyzing the motion coupling relationship between the components driven by the large arm,based on the linkage matrix method,the workspace was accurately obtained through numerical search and geometric drawing.When the gravitational potential energy changes,the elastic potential energy in the balance device is released or stored to achieve complete balance of the gravitational potential energy,achieving all the energy driven by the motor for the kinetic energy transfer of the moving component,and avoiding useless consumption of the gravitational potential energy.Through research,the universal expression and optimization algorithm for gravity balance were obtained.