Abstract
The paper presents a new method for the identification of joint friction, reductor self-locking and gear backlash parameters. The method was developed using an existing hexapod robot. During the process, the motor driving currents given by the model and measured on the real device were observed and compared. Initially, the current curves showed specific differences. After the analysis of these deviations, their causes were identified as joint friction, reductor self-locking and gear backlash. The parameters of these phenomena were determined using swarm optimization. As a result of this process, a validated model was obtained. The mentioned mechanical properties were identified using a step-by-step method, in which one property aided in the discovery of another. The robot model was created in a MATLAB/Simulink environment, using the Simscape Multibody Toolbox.
Similar content being viewed by others
References
Liang, J., Fillmore, S., Ma, O.: An extended bristle friction force model with experimental validation. Mech. Mach. Theory 56, 123–137 (2012)
Piatkowski, T., Wolski, M.: Analysis of selected friction properties with the Froude pendulum as an example. Mech. Mach. Theory 119, 37–50 (2018)
Diez-Ibarbia, A., Fernandez-del-Rincon, A., de-Juan, A., Iglesias, M., Garcia, P., Viadero, F.: Frictional power losses on spur gears with tip reliefs. The friction coefficient role. Mech. Mach. Theory 121, 15–27 (2018)
Siyu, C., Jinyuan, T., Caiwang, L., Qibo, W.: Nonlinear dynamic characteristics of geared rotor bearing systems with dynamic backlash and friction. Mech. Mach. Theory 46, 466–478 (2011)
Erkaya, S.: Trajectory optimization of a walking mechanism having revolute joints with clearance using ANFIS approach. Nonlinear Dyn. 71, 75–91 (2013). https://doi.org/10.1007/s11071-012-0642-5
Altuzarra, O., Aginaga, J., Hernández, A., Zabalza, I.: Workspace analysis of positioning discontinuities due to clearances in parallel manipulators. Mech. Mach. Theory 46, 577–592 (2011)
Mazzini, F., Dubowsky, S.: Experimental validation of the tactile exploration by a manipulator with joint backlash. J. Mech. Robot. 4, 011009-1 (2012)
Ruderman, M., Hoffmann, F., Bertram, T.: Modeling and identification of elastic robot joints with hysteresis and backlash. IEEE Trans. Ind. Electron. 56(10), 3840–3847 (2009)
Aphiratsakun, N., Parnichkun, M.: Balancing control of AIT leg exoskeleton using ZMP based FLC. Int. J. Adv. Robot. Syst. 6(4), 319–328 (2009). ISSN 1729-8806
Slamani, M., Bonev, I.: Characterization and experimental evaluation of gear transmission errors in an industrial robot. Ind. Robot 40(5), 441–449 (2013). https://doi.org/10.1108/IR-07-2012-387
He, S., Jia, Q., Chen, G., Sun, H.: Modeling and dynamic analysis of planetary gear transmission joints with backlash. Int. J. Control Autom. 8(2), 153–162 (2015). https://doi.org/10.14257/ijca.2015.8.2.16
Cobano, J.A., Estremera, J., de Santos, P.G.: Accurate tracking of legged robots on natural terrain. Auton. Robots 28, 231–244 (2010). https://doi.org/10.1007/s10514-009-9165-4
Gupta, A., O’Malley, M.K.: Design of a haptic arm exoskeleton for training and rehabilitation. IEEE/ASME Trans. Mechatron. 11(3), 280–289 (2006)
Yue, H., Wei, Z., Chen, Q., Zhang, X.: Adaptive fuzzy dynamic surface tracking control for a class of nonlinear systems with unknown distributed time delays and backlash-like hysteresis. Int. J. Adv. Robot. Syst. (2017). https://doi.org/10.1177/1729881417733886
Brogliato, B.: Feedback control of multibody systems with joint clearance and dynamic backlash: a tutorial. Multibody Syst. Dyn. 42, 283–315 (2018). https://doi.org/10.1007/s11044-017-9585-4
Leonesio, M., Bianchi, G.: Self-locking analysis in closed kinematic chains. Mech. Mach. Theory 44, 2038–2052 (2009)
Kecskés, I., Burkus, E., Bazsó, F., Odry, P.: Model validation of a hexapod walker robot. Robotica 35, 419–462 (2017)
Shkolnik, A., Levashov, M., Manchester, I.R., Tedrake, R.: Bounding on rough terrain with the LittleDog robot. Int. J. Robot. Res. 30, 192–215 (2011)
Asif, U., Iqbal, J.: An approach to stable walking over uneven terrain using a reflex based adaptive gait. J. Control Sci. Eng. 2011. https://doi.org/10.1155/2011/783741 (2011)
Grzelczyk, D., Stanćzyk, B., Awrejcewicz, J.: Kinematics, dynamics and power consumption analysis of the hexapod robot during walking with tripod gait. Int. J. Struct. Stab. Dyn. 17, 1740010. https://doi.org/10.1142/S0219455417400107 (2017)
Popov, V.L.: Contact Mechanics and Friction. Physical Principles and Applications. Springer, Berlin (2010). https://doi.org/10.1007/978-3-642-10803-7
Olsson, H., Åström, K.J., Canudas de Wit, C., Gäfvert, M., Lischinsky, P.: Friction models and friction compensation. Eur. J. Control 4, 176–195 (1998)
Mostaghel, N., Davis, T.: Representations of Coulomb friction for dynamic analysis. Earthq. Eng. Struct. Dyn. 26, 541–548 (1997)
Dekker, M.H.P.: Mechanical design of a humanoid robot’s lower body, improved walking and posture dynamics, Masters’ thesis. Eindhoven University of Technology, Eindhoven (2010)
Kecskés, I., Odry, P.: Optimization of PI and fuzzy-PI controllers on simulation model of Szabad(ka)-II walking robot. Int. J. Adv. Robot. Syst. 11, 186 (2014)
The MathWorks, Inc.: Rotational Friction. www.mathworks.com/help/physmod/simscape/ref/rotationalfriction.html. Accessed 11 Feb 2019 (2020)
David, R.S., Castillo, J.M.D.: Conditions for self-locking in planetary gear trains. J. Mech. Des. 129, 960–968 (2007)
The MathWorks, Inc.: Rotational Hard Stop. www.mathworks.com/help/physmod/simscape/ref/rotationalhardstop.html. Accessed 11 Feb 2019 (2020)
The MathWorks, Inc.: Torsional Spring–Damper. www.mathworks.com/help/physmod/sdl/ref/torsionalspringdamper.html. Accessed 11 Feb 2019 (2020)
Burkus, E., Bessenyei, S., Odry, A., Kecskés, I., Odry, P.: Test bench built for the identification of the Szabad(ka)-II hexapod robot leg prototypes. In: International Symposium on Intelligent Systems and Informatics (SISY) (2016)
Acknowledgements
The realization of the project, which includes building the new Hexapod robot, is sponsored by FAULHABER Motors Hungaria Ltd. and AppL-DSP Ltd., for which we are very grateful. This work is supported by the EFOP-3.6.1-16-2016-00003 project. The project is co-financed by the European Union.
Author information
Authors and Affiliations
Corresponding author
Additional information
Publisher's Note
Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.
Rights and permissions
About this article
Cite this article
Burkus, E., Awrejcewicz, J. & Odry, P. A validation procedure to identify joint friction, reductor self-locking and gear backlash parameters. Arch Appl Mech 90, 1625–1641 (2020). https://doi.org/10.1007/s00419-020-01687-2
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s00419-020-01687-2