Modeling of Configuration-Dependent Flexible Joints for a Parallel Robot
Modeling of Configuration-Dependent Flexible Joints for a Parallel Robot
复制标题
并联机器人的配置相关柔性关节建模
DOI：
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发表时间：
2010
期刊：
影响因子：
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通讯作者：
F. Xi
中科院分区：
文献类型：
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作者：
Zili Zhou;C. Mechefske;F. Xi
本文提供了一种确定可变柔性关节参数的方法，这些参数取决于 PRS 并联机器人的配置。基于连续力方法，在关节部件之间使用虚拟弹簧来模拟关节灵活性。推导了关节虚拟弹簧的刚度矩阵。该方法利用不同配置下的系统动态特性来设置系统中所有关节的虚拟弹簧刚度。对一组选定的机器人配置进行模态测试，以确定系统固有频率和振型及其变化。为了获得虚拟弹簧刚度，系统在关节节点坐标处被压缩。然后对压缩系统矩阵相对于关节虚拟弹簧的刚度参数进行特征敏感性分析。因此，可以设置模型中的虚拟弹簧参数来匹配系统动态响应随机器人配置变化的变化。所选机器人配置之间的虚拟弹簧参数通过插值获得。研究表明，与其他方法相比，该方法有效且相对容易实施。可变柔性关节模型适用于可变配置的柔性多体系统。
This paper provides a method to determine the variable flexible joint parameters which are dependent on configurations for a PRS Parallel Robot. Based on the continuous force approach, virtual springs were used between the joint components to simulate the joint flexibility. The stiffness matrix of the joint virtual springs was derived. The method uses system dynamic characteristics in different configurations to set the virtual spring stiffness for all the joints in the system. Modal testing was conducted on a set of selected robot configurations to determine the system natural frequencies and mode shapes along with their variation. To obtain the virtual spring stiffness, the system was condensed at the joint nodal coordinates. Then eigen-sensitivity analysis was conducted on the condensed system matrices with respect to the stiffness parameters of the joint virtual springs. Thus, the virtual spring parameters in the model can be set to match the variation of the system dynamic responses with the robot configuration changes. The virtual spring parameters between the selected robot configurations were obtained by interpolation. The research indicates that the method is effective and relatively easy to conduct, compared to other methods. The variable flexible joint model is applicable to flexible multibody systems with variable configurations.