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考虑关节间隙的空间机械臂臂杆振动特性研究
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国家自然科学基金资助项目(11272171);高等学校博士学科点专项科研基金资助项目(20120002110070)


Study on Vibration Characteristics of Space Manipulator with Joint Clearance
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    摘要:

    基于ADAMS动力学仿真软件,建立含间隙关节空间机械臂的动力学仿真模型,改变关节间隙尺寸和刚度系数等相关参数,获取不同关节间隙尺寸下的空间机械臂动力学响应;通过搭建含间隙关节的空间机械臂实验台,采用改变臂杆端盖孔径的方法改变关节间隙尺寸,分析不同关节间隙尺寸下的空间机械臂臂杆的输出振动特性。仿真与实验结果表明:臂杆末端的加速度和关节的接触碰撞力会随着空间机械臂关节间隙的增大而逐渐增大,但增幅会逐渐减小;空间机械臂关节间隙的增大还会导致关节内碰撞加剧,引起更大的能量损失。这可为提高含间隙空间机械臂的控制精度提供参考。

    Abstract:

    Based on the ADAMS dynamic simulation software, the dynamics simulation model of the space manipulator with the joint clearance is established. The parameters of the joint clearance size and the stiffness coefficient were changed to obtain the dynamic response of the space manipulator with the different joint clearance size. Further, by setting up the space manipulator experiment platform with joint clearance, changing the joint clearance by changing the aperture of the arm cap, the output vibration characteristics of the space manipulator arm under different joint clearance sizes were analyzed. Experimental and simulation results show that the acceleration at the tip of the arm and the contact impact force of the joint increase gradually with the increasing of the joint clearance of the space manipulator, but the amplitude decreases gradually. Space manipulator arm joint clearance increased can also lead to increase joint collisions intensified inside, and cause greater energy loss. This can provide reference for improving the control accuracy of the space manipulator with clearance.

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谷勇霞,冯彬,江崔颖,李秋宇,吴耀君,邓琨.考虑关节间隙的空间机械臂臂杆振动特性研究[J].机床与液压,2018,46(5):1-5.
. Study on Vibration Characteristics of Space Manipulator with Joint Clearance[J]. Machine Tool & Hydraulics,2018,46(5):1-5

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  • 在线发布日期: 2018-05-10
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