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刚度控制机器人需要提高与任意环境接触或交互的稳定性,使机构末端可在较小位移下实现较大输出力。从机构参数模型出发,以任意环境下可稳定达到的最大控制刚度来衡量机构的稳定性或稳定范围,并考虑各向同性,研究机器人参数设计理论与方法。以一种2自由度机构设计为例,首先建立动力学模型并分析其耦合特性;然后对各解耦运动链的等效单自由度模型作稳定性分析,给出机构最大稳定控制刚度的定量表示;最后对两组具体参数进行校核和对比分析。结果说明:电机输出轴径、传动比和关节杆长等参数对机构稳定性影响较大,可通过调整这些参数来改善机构刚度控制的性能。
Stiffness control robots need to improve the stability of any contact or interaction with any environment so that the end of the mechanism can achieve greater output force with less displacement. Starting from the mechanism parameter model, the stability or the stability range of the mechanism can be measured by the maximum control stiffness that can be achieved stably under any environment. The theory and method of robot parameter design are also studied considering the isotropy. Taking a 2-DOF mechanism design as an example, the dynamic model is first established and its coupling characteristics are analyzed. Then, the stability analysis of the equivalent single-degree-of-freedom model for each decoupling kinematic chain is given. The maximum stable control stiffness of the mechanism is given Said; Finally, the two groups of specific parameters for checking and comparative analysis. The results show that the motor output shaft diameter, transmission ratio and joint rod length and other parameters have a great influence on the stability of the mechanism. These parameters can be adjusted to improve the performance of the mechanism stiffness control.