Inertia matching analysis of a 5-DOF hybrid optical machining manipulator
Inertia matching analysis of a 5-DOF hybrid optical machining manipulator
复制标题
五自由度混合光学加工机械臂惯性匹配分析
DOI：
10.1007/s12206-019-0938-1
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发表时间：
2019-10
影响因子：
1.6
通讯作者：
Laibin Zhang
中科院分区：
文献类型：
--
作者：
Yixuan Kong;Gang Cheng;Feng Guo;Wei Gu;Laibin Zhang
惯量匹配是指将机械负载惯量转换到各作动器轴与电机惯量的比值，保证在合理的范围内。目前，惯性匹配在串联机械手和数控机床中得到了广泛的应用。然而，大载荷惯性光学加工机械臂的惯性匹配研究尚未得到足够的重视。以五自由度混合光学加工机械臂为研究对象，建立了基于虚功原理的逆动力学模型，并表达了关节反射惯性系数与负载惯性比的代数关系。通过对机械系统的谐振频率、能量匹配效率等因素进行定性定量分析，并结合负载惯性比与动态精度特性，确定了加工机械手的惯性匹配范围。最后，根据推导结果，分析了不同结构参数的五自由度混合光学加工机械手在特定加工任务中的惯量匹配规律。此外，本文提出的JRI系数和惯性匹配原理可广泛应用于其他机械臂在不同加工目标下的驱动设备选择，也可用于评价选择结果。
Inertia matching means the ratio of the mechanical load inertia is converted to each actuator shaft to motor inertia, which is guaranteed within a reasonable range. At present, inertia matching is widely applied to tandem manipulators and CNC machine tools. However, the researches on the inertia matching of large load inertia optical machining manipulators have not been paid sufficient attention. We took the 5-DOF hybrid optical machining manipulator as the research object, established inverse dynamics model based on virtual work principle, and expressed the algebraic relationship between the joint-reflected inertia (JRI) coefficient and the ratio of load inertia. We also determined the inertia matching range of the machining manipulator by analyzing the mechanical system’s resonance frequency, energy matching efficiency and other factors qualitatively and quantitatively, as well as combining the load inertia ratio with dynamic precision characteristics. Finally, according to the derivation results, we analyzed the inertia matching rules of the 5-DOF hybrid optical machining manipulator with different structural parameters in certain machining tasks. In addition, the JRI coefficient and inertia matching principle proposed in this paper can be widely applied to other machining manipulators’ selection of driving equipment under different machining targets, and can also be used to evaluate the selection results.
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