Abstract

Clearance joints and variable load have a great influence on the dynamic performance of shift manipulator for robot driver. In this article, a dynamics model of clearance joint and a simulation method of variable load are proposed to analyze the influence of clearance joint and variable load on the dynamic performance of shift manipulator. Firstly, a hybrid nonlinear contact force model is established to describe the normal contact force of revolute clearance joint, and a modified Coulomb friction model is used to describe the tangential contact force of revolute clearance joint. On this basis, a virtual prototype dynamics model of shift manipulator with multiple revolute clearance joints is established. Then a power transmission model of shift manipulator including the variable load model at the end of shift manipulator is established. The time-varying and nonlinear characteristics of the load in gear engaging direction are simulated by neural network. Finally, the influences of different clearance dimension and variable load on the dynamic performance of shift manipulator are analyzed. Experiment and simulation results show the validity of the presented analysis, which provides a basis for further structure optimization of shift manipulator.

摘要

间隙关节和可变负载对机器人驾驶员换档机械手的动态性能有很大影响。本文提出了一种间隙关节动力学模型和一种可变载荷的仿真方法，以分析间隙关节和可变载荷对换档机械手动力学性能的影响。首先，建立混合非线性接触力模型来描述旋转间隙接头的法向接触力，并使用改进的库仑摩擦模型来描述旋转间隙接头的切向接触力。在此基础上，建立了具有多个旋转间隙关节的换档机械手虚拟原型动力学模型。然后建立了换档机械手的动力传递模型，包括换档机械手末端的变负荷模型。利用神经网络模拟了齿轮啮合方向载荷的时变和非线性特性。最后，分析了不同游隙尺寸和可变载荷对换档机械手动态性能的影响。实验和仿真结果证明了所提分析的有效性，为进一步优化换档机械手的结构提供了依据。