Wang Jing, Zhou Shisheng, Wu Jimei, Qing Jiajuan, Kang Tuo, Shao Mingyue
School of Mechanical and Precision Instrument Engineering, Xi'an University of Technology, Xi'an 710048, China.
Faculty of Printing, Packing and Digital Media Engineering, Xi'an University of Technology, Xi'an 710048, China.
Sensors (Basel). 2024 Jul 6;24(13):4396. doi: 10.3390/s24134396.
The coupling effects of flexible joints and clearance on the dynamics of a robotic system were investigated. A numerical analysis was undertaken to reveal the coupling effects between flexible joints and clearance. The nonlinear spring-damping model and Coulomb model were applied to characterize the contact characteristics of the clearance, and a model for the flexible joint was formulated using the equivalent spring theory. An accurate robot model was established based on the clearance and joint flexibility characterization. The dynamic equation of a robot was obtained according to the Newton-Euler method. A comparative analysis was performed to assess the impacts of both the joint action of clearance and flexible joints and varying joint clearance values on the performance of the robot. The results showed that the coupling effects of flexible joints and clearance had a negative impact on the system dynamic performance. The amplitudes of the dynamic responses caused by the clearance are weakened by the flexible joint, but it leads to the lag of the system response. This study served as the theoretical foundation for exploring precise control techniques in robotics research.
研究了柔性关节和间隙对机器人系统动力学的耦合效应。进行了数值分析以揭示柔性关节和间隙之间的耦合效应。应用非线性弹簧 - 阻尼模型和库仑模型来表征间隙的接触特性，并使用等效弹簧理论建立了柔性关节模型。基于间隙和关节柔性表征建立了精确的机器人模型。根据牛顿 - 欧拉方法获得了机器人的动力学方程。进行了对比分析，以评估间隙和柔性关节的联合作用以及不同关节间隙值对机器人性能的影响。结果表明，柔性关节和间隙的耦合效应会对系统动态性能产生负面影响。间隙引起的动态响应幅度会被柔性关节削弱，但会导致系统响应滞后。该研究为探索机器人研究中的精确控制技术奠定了理论基础。
