| 杨立欢， 胡伟恒， 陈惠贤.RV减速器间隙及关节摩擦对医用机械臂动力学的耦合影响[J].轻工机械,2020,38(4):1-8 |
| RV减速器间隙及关节摩擦对医用机械臂动力学的耦合影响 |
| Coupling Effect of RV Reducer Clearance and Joint Friction on Dynamics of Medical Manipulator |
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| DOI：10.3969/j.issn.1005 2895.2020.04.001 |
| 中文关键词: 机械臂 RV减速器 齿侧间隙 关节摩擦 动力学 |
| 英文关键词:mechanical arm RV reducer tooth side clearance joint friction dynamics |
| 基金项目: |
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| 中文摘要: |
| 为了探究减速器间隙及关节摩擦对医用机械臂动力学特性的影响，提高医用机械臂控制及摆位的精度，课题组以医用机械臂为对象，利用拉格朗日方程建立了包含RV减速器中心轮与行星轮之间的时变啮合刚度、啮合阻尼、齿侧间隙及关节铰接摩擦的动力学模型。仿真分析结果表明：由于时变啮合刚度、啮合阻尼、齿侧间隙的出现，医用机械臂角加速度出现非周期波动，且随着间隙的增加，波动幅值增大，而关节摩擦可以降低加速度波动的幅值，但会造成系统能量损失；同时，时变啮合刚度、啮合阻尼和齿侧间隙使医用机械臂末端在同一时刻到达位置出现偏差，运动出现时间上的延迟，关节摩擦使末端轨迹的误差进一步增加。 |
| 英文摘要: |
| In order to explore the influence of the clearance and joint friction of the reducer on the dynamic characteristics of the medical mechanical arm and improve the accuracy of the control and positioning of the medical mechanical arm, a dynamic model including the time varying meshing stiffness, meshing damping, tooth side clearance and joint articulation friction between the center wheel and the planetary wheel of the RV reducer was established by using the Lagrange equation. The simulation results show that the angular acceleration of the medical mechanical arm fluctuates aperiodically due to the emergence of time varying meshing stiffness, meshing damping and tooth side clearance, and the amplitude of the fluctuation increases with the increase of the clearance, while the amplitude of the acceleration fluctuation can be reduced by joint friction, but the system energy loss will be caused. Besides, the time varying meshing stiffness, meshing damping and tooth side clearance make the end of the medical mechanical arm at the same time, there is a deviation in the position of arrival, a delay in the time of motion, and the joint friction makes the error of the end track further increased. |
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