基于非圆齿轮的机械臂重力补偿机构研究
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摘要
目前大多数机器人工作过程中需要消耗大量能量来克服自身重力,为了降低能耗并提高机器人性能,提出一种用于转动关节机械臂的重力补偿装置,该装置采用非圆齿轮行星轮系扭转弹簧机构,可实现机械臂任意可达工作空间的重力补偿;建立机械臂静平衡力学模型,根据静平衡约束条件设计非圆齿轮行星轮系,对非圆齿轮行星轮系传动比分配进行讨论,得到满足力矩平衡的最简轮系;以2R平行四杆机构机械臂为例进行设计分析,并导入ADAMS中进行验证,仿真结果表明,重力补偿机构有效降低了驱动力矩。
At present,most robots need to consume a large amount of energy to overcome their own gravity during operation. In order to reduce energy consumption and improve robot performance,a gravity compensation mechanism( GCM) for a rotating joint manipulator is proposed. A non-circular gear planetary gear and torsion spring are used in the device,the gravity compensation of arbitrarily reachable working space of the manipulator can be realized,the static balancing mechanical model of the manipulator is established,the non-circular gear planetary gear train is designed according to the static balance constraint condition,and the transmission ratio distribution of non-circular gear planetary gear train is discussed. The simplest gear train that satisfied the moment balance is obtained. The design and analysis of the 2R parallel four-bar mechanism manipulator is carried out and imported into ADAMS for verification. The simulation results show that the driving torque is effectively reduced.
At present,most robots need to consume a large amount of energy to overcome their own gravity during operation. In order to reduce energy consumption and improve robot performance,a gravity compensation mechanism( GCM) for a rotating joint manipulator is proposed. A non-circular gear planetary gear and torsion spring are used in the device,the gravity compensation of arbitrarily reachable working space of the manipulator can be realized,the static balancing mechanical model of the manipulator is established,the non-circular gear planetary gear train is designed according to the static balance constraint condition,and the transmission ratio distribution of non-circular gear planetary gear train is discussed. The simplest gear train that satisfied the moment balance is obtained. The design and analysis of the 2R parallel four-bar mechanism manipulator is carried out and imported into ADAMS for verification. The simulation results show that the driving torque is effectively reduced.
引文
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[11] ZHENG F,HUA L,HAN X,et al. Synthesis of indexing mechanisms with non-circular gears[J]. Mechanism&Machine Theory,2016,105:108-128.
[12]郑方焱,张争艳,陈定方,等.新型非圆齿轮分度装置[J].中国机械工程,2014,25(22):2997-3002.
[2] LIN P Y,SHIEH W B,CHEN D Z. Design of statically balanced planar articulated manipulators with spring suspension[J]. IEEE Transactions on Robotics,2012,28(1):12-21.
[3] CHO C,KANG S. Design of a static balancing mechanism with unit gravity compensators[C]∥Proceedings of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems,September25-30,2011,San Francisco,CA,USA. New York:IEEE,2011:1857-1862.
[4] CHHETA Y R,JOSHI R M,GOTEWAL KK,et al. A review on passive gravity compensation[C]∥Proceedings of the 2017 IEEE International Conference of Electronics,Communication and Aerospace Technology(ICECA),April 20-22,2017,Coimbatore,India. New York:IEEE,c2017:184-189.
[5] FUKUSHIMA E F,DEBENEST P,TOJO Y,et al. Teleoperated buggy vehicle and weight balanced arm for mechanization of mine detection and clearance tasks[C]. Proceedings of the IARP Workshop on Robotics and Mechanical Assistance in Humanitarian Demining(HUDEM 2005),2005:58-63.
[6] TARIQ R P D,RUNGUN R M S. A simple technique to passively gravity-balance articulated mechanisms[J]. Journal of Mechanical Design,1995,117(4):655-658.
[7] ENDO G,YAMADA H,YAJIMA A,et al. A passive weight compensation mechanism with a non-circular pulley and a spring[C]∥Proceedings of the 2010 IEEE International Conference on Robotics and Automation,May 3-7,2010,Anchorage,AK,USA. New York:IEEE,c2010:3843-3848.
[8] KOSER K. A cam mechanism for gravity-balancing[J]. Mechanics Research Communications,2009,36(4):523-530.
[9] CHO C,LEE W,LEE J,et al. A 2-dof gravity compensator with bevel gears[J]. Journal of Mechanical Science&Technology,2012,26(9):2913-2919.
[10]胡赤兵,苑明杰.非圆行星齿轮机构的参数设计与三维造型[J].兰州理工大学学报,2013,4(4):42-45.
[11] ZHENG F,HUA L,HAN X,et al. Synthesis of indexing mechanisms with non-circular gears[J]. Mechanism&Machine Theory,2016,105:108-128.
[12]郑方焱,张争艳,陈定方,等.新型非圆齿轮分度装置[J].中国机械工程,2014,25(22):2997-3002.
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