VELOCITY DEPENDENCE OF JOINT FRICTION IN ROBOTIC MANIPULATORS WITH GEAR TRANSMISSIONS
VELOCITY DEPENDENCE OF JOINT FRICTION IN ROBOTIC MANIPULATORS WITH GEAR TRANSMISSIONS
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发表时间：
2005-06
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通讯作者：
R. Waiboer;R. Aarts;B. Jonker
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作者：
R. Waiboer;R. Aarts;B. Jonker
本文分析了齿轮传动机器人在关节速度从接近零变化到出现最大值时关节摩擦力的建模问题。它示出，常用的摩擦模型，将库仑，（线性）粘性和Stribeck组件是不足以描述摩擦行为的全速度范围。提出了一种新的摩擦模型，依赖于摩擦学模型的见解。本文采用两润滑盘滚动滑动接触的基本摩擦模型，分析了机器人关节传动装置中齿轮和滚子轴承内部的粘性摩擦和微凸体接触摩擦。分析表明，齿轮和预应力轴承的不同粘性摩擦行为。描述粘性摩擦和摩擦由于粗糙接触的子模型被组合成两个摩擦模型;一个用于齿轮，一个用于预应力滚子轴承。通过这种方式，开发了一种新的摩擦模型[1]，该模型准确地描述了滑动状态下的摩擦行为，具有最小的物理合理的参数化。该模型的参数是线性的，是温度相关的，这允许在惯性参数识别实验期间估计这些参数。该模型中库仑摩擦效应已经消失，其参数数量与常用的Stribeck模型[2]相同。在史陶比尔RX 90工业机器人上对模型参数进行了实验辨识。
This paper analyses the problem of modelling joint friction in robotic manipulators with gear transmissions at joint velocities varying from close to zero until their maximum appearing values. It is shown that commonly used friction models that incorporate Coulomb, (linear) viscous and Stribeck components are inadequate to describe the friction behaviour for the full velocity range. A new friction model is proposed that relies on insights from tribological models. The basic friction model of two lubricated discs in rolling-sliding contact is used to analyse viscous friction and friction caused by asperity contacts inside gears and roller bearings of robot joint transmissions. The analysis shows different viscous friction behaviour for gears and pre-stressed bearings. The sub-models describing the viscous friction and the friction due to the asperity contacts are combined into two friction models; one for gears and one for the pre-stressed roller bearings. In this way, a new friction model [1] is developed that accurately describes the friction behaviour in the sliding regime with a minimal and physically sound parametrisation. The model is linear in the parameters that are temperature dependent, which allows to estimate these parameters during the inertia parameter identification experiments. The model, in which the Coulomb friction effect has disappeared, has the same number of parameters as the commonly used Stribeck model [2]. The model parameters are identified experimentally on a St ¨aubli RX90 industrial robot.