柔性机械臂关节刚度的一种间接测量方法

柔性机械臂关节刚度的一种间接测量方法王世军,黄玉美,王　凯(西安理工大学机械与精密仪器学院,西安710048):。,,、,。,。,。:;;;:TP24　　:A　　:1001-3881(2004)8-154-2AIndirectMeasurementMethodforJointStiffnessofFlexibleArmWANGShi-jun,HUANGYu-mei,WANGKai(InstituteofMechanicalandInstrumentEngineering,Xi'anUniversityofTechnology,Xi'an710048,China)Abstract:Ameasurementmethodforjointstiffnessofflexible-armwaspresented,whichusestwokindsofdatatocalculatejointstiff-ness.Akindofdataisloadsanddisplacementsinloaddirectionsatdifferentlocationsofarmend.Anotherisloadsanddisplacementsinloaddirection,whicharecalculatedbyfiniteelementmethodatcorrespondinglocations.Withloadsanddisplacementscontainingjointinformation,alljointstiffnessescanbecalculatedbysolvinganlinearequationset.Apracticalexamplewasgivenandvalidityofthemethodwasproved.Keywords:Robot;Joint;Stiffness;Finiteelement　　,,,。,。,。,,[1,2]。,。[3,4]。Nali-totela[5]。Yang[6]。[7]。,,。。,,。,。,。1　,:。,,:EijEj。Wj=∑iEij+Ej(1)i,j。W,E。Eij=Fij·Δuij(2)Fijuij。:,,。Fijuijkij=Δuij=(Fij·Δueij)Δueij(3)ΔueijΔuij,kijΔueij。kijkij=Δueij·k0i(4)k0ii,。(3)、(4)(2),Eij=Fij·ΔueijΔueij·k0iFij·Δueij,(2)Wj=Fj·ΔujEj=Fj·Δu0jΔu0j,ΔFj·154·《》2004.No.8:(50075069)Δuj。(1)Fj·Δuj=∑ni=1Fij·ΔueijΔueij·k0iFij·Δueij+Fj·Δu0j(5)(5),Δueij,Fj、Δuj,Δu0j。Fij,k0i。Fj,(5)1k0j。(5)6n。n。(5)。FijFj。,。2　1　　　12。16mm,455mm,105mm,3,1。。,5。,。,。ANSYS。9-,。Fj,YZ,4。24。,。。。,,。3。4。9-,,。,。,0～2000Hz。5。45,。,。,,。,45。6,7,7,3,。45。3　。,。,(5)。,,,。【1】,,..,1995,3(21):76～82.【2】,,,.5R(下转第177页)·155·《》2004.No.8。,,、、。。,,,,,,,,,、、。3　1,,:(1),,、[5],、、,、。(2),[6,7],3.5mm,,,,80°,0.8mm,,8,4mm,1.5mm,60°。,、。(3),,,,。、,,。,,1,,,,,,。4　,,,,,。,,,,,;,,,。【1】,,.[J].,2003(1):92～94.【2】,,.[J].,1999(3):147～150.【3】.[J].,2002(3):117～120.【4】　,.[J].,1999(1):53～54.【5】,.[J].,1999(2):30～32.【6】,.[J].,1999(5):37～49.【7】,,.[J].,1997(5):16～17.收稿时间:2003-07-04(上接第155页).,1996,6(12)622～626.【3】,　,..,1997,3(10)332～342.【4】,,..,2000,32(2)104～106.【5】NalitotelaN.E.,UpdatingModalParametersbyAddinganImagingStiffnesstoStructure.MechanicalSystemandSignalProcessing,1993,7(2):161～172.【6】YangK.T..JointParametersIdentificationUsingaSubsetofFrequencyResponseFunctionMeasurement.MechanicalSystemandSignalProcessing,1993,7(5):375～400.【7】,　,,..,2001,12(12):1333～1335.:,,。:,。:029-2312882,E-mail:[e-mail]。收稿时间:2004-02-10·177·《》2004.No.8