摘要
针对六自由度柔性关节机械手的模态参数,建立了计入刚性连杆和柔性关节的机械臂的数值解析模态分析方法。首先拉格朗日公式建立了柔性关节机器人的动力学模型,然后利用泰勒级数展开法,推导了考虑重力、外力和控制参数的线性化模态分析方程,在此基础上可以通过状态空间矩阵来计算任意机器人构型的模态参数。采用解析法计算了六自由度柔性关节机器人的模态参数,为了验证该方法的有效性,利用基于矢量自回归模型的工作模态技术对模态参数进行了估计,结果表明两种方法的结果具有较好的吻合性。在给定的机器人构型基础上,通过该方法可以快速提取机器人的模态信息。
Aiming at the modal parameters of the six degree of freedom flexible joint manipulator,a numerical analytical modal analysis method of the manipulator with rigid link and flexible joint is established.Firstly,the dynamic model of flexible joint robot is established by Lagrange formula,and then the linearized modal analysis equation considering gravity,external force and control parameters is derived by using Taylor series expansion method.On this basis,the modal parameters of any robot configuration can be calculated by state space matrix.In order to verify the effectiveness of this method,the working modal technology based on vector autoregressive model is used to estimate the modal parameters.The results show that the results of the two methods are in good agreement.Based on the given robot configuration,the modal information of the robot can be extracted quickly by this method.
作者
李艳
刘正矛
LI Yan;LIU Zheng-mao(Xinxiang Vocational and Technical College,He’nan Xinxiang 453000,China;School of Mechanical and Power Engineering,Zhengzhou University,He’nan Zhengzhou 450001,China)
出处
《机械设计与制造》
北大核心
2024年第8期318-325,共8页
Machinery Design & Manufacture
基金
2021年产学合作协同育人项目—机器人关节减速器的结构设计与控制技术研究(21A690031)。
