A Systematic Procedure for the Elastodynamic Modeling and Identification of Robot Manipulators
A Systematic Procedure for the Elastodynamic Modeling and Identification of Robot Manipulators
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DOI：
10.1109/tro.2010.2066910
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发表时间：
2010-12
影响因子：
7.8
通讯作者：
M. Rognant;E. Courteille;P. Maurine
中科院分区：
文献类型：
--
作者：
M. Rognant;E. Courteille;P. Maurine
本文提出了一个系统的程序，适用于串联或并联机械手的工业机器人的弹性动力学建模。这个过程是基于一个3-D空间推广的等效刚性连杆系统（ERLS）的描述，有限元法（FEM），和拉格朗日原则。它考虑了柔性连杆和关节，并导致通用的运动方程表示根据驱动关节的角度和独立的弹性自由度。通过模态分析的有效识别过程进行了详细说明，并根据模型应用的阻尼和关节行为的描述进行了讨论。该方法被应用到一个3-D三角形的并联结构，并成功地通过实验的冲击测试为基础的模态分析验证。
This paper presents a systematic procedure for the elastodynamic modeling of industrial robots that is applicable to either serial or parallel manipulators. This procedure is based on a 3-D space generalization of the equivalent rigid link system (ERLS) description, the finite-element method (FEM), and the Lagrange principle. It considers flexible links and joints, and leads to generic equations of motion expressed according to the angles of the actuated joints and the independent elastic degrees of freedom. An efficient identification process through modal analysis is detailed, and the description of damping and joint behavior according to the model application is discussed. The method is applied to a 3-D delta-like parallel structure and successfully validated through an experimental impact testing-based modal analysis.