摘要
以一种6轴协作机械臂开发平台为对象,对零力拖动示教进行研究。利用拉格朗日法及机械臂结构参数建立其本体动力学模型;将静力学中的摩擦力矩和惯性力矩加入到动力学方程之中得到协作机械臂的零力拖动模型;根据电机轴角速度关系将动力学力矩与关节PMSM电机数学模型结合,得到电机层面的力矩模型;与零力拖动模型整合得到实际应用中的零力拖动模型;利用协作机械臂开发平台对摩擦补偿参数等进行校准,确保了机械臂在工作范围内可实现零力拖动。
A development platform of six axis cooperative manipulator was adopted to study the teaching of zero force drag. Lagrange method and mechanical arm structure parameters were used to establish the dynamics model of ontology.The friction torque and inertia moment of statics and the dynamics equation were joined together to abtain the zero force drag model of collaborative mechanical arm. According to the joint angular velocity relationship, dynamic torque was combined with joint PMSM electric mechenic mathematical model to get the torque level machine model. Zero force drag model was integrated for practical application. Collaborative mechanical arm development platform was utilized to calibrate the friction compensation parameters, ensuring the zero force drag of mechanical arm within the scope of work.
作者
刘镔震
潘松峰
李先弘
王先月
伊永祺
LIU Binzhen;PAN Songfeng;LI Xianhong;WANG Xianyue;YI Yongqi(School of Automation,Qingdao University,Qingdao 266000,China)
出处
《机械制造与自动化》
2022年第2期165-168,共4页
Machine Building & Automation
关键词
动力学
拉格朗日方程
PMSM
零力拖动
collaborative mechanical arm
dynamics
Lagrange equation
PMSM
zero-force drag
