摘要
为优化共融悬臂柔顺特性,提升换轨精度,以自动换轨装备悬臂算子多体系统为对象,针对换轨机器人龙口悬臂在无载荷、吊轨及施工过程中的末端振动现象,建立在不同模态频率、静力荷载和剪切效应作用下的混阶时空输运模型;引入Bezier插值离散方法,求解机器人共融悬臂混阶时空算子分裂输运变化,得到悬臂末端空间尺度上载荷冲击、惯性偏移与时间尺度上温变梯度、轴向变形等因变参数对悬臂振动特性的影响规律,为共融悬臂的优化设计提供指导。实验结果表明,混阶时空载荷、制动约束与模态频率、惯性偏移呈正比关系,且理论数值分析、仿真模型结果与实验标定数据具有一致性与互证性。
To improve the compliant mechanism characteristic of cantilever,with automatic equipment for rail bracket operator splitting multi-body system as the object,in view of the robot in cantilever and vibration phenomenon at the end of crane rail and construction process,the mixed space-time and space transport model under the action of different modal frequency,static load and shear effect was built.By introducing Bezier interpolation discrete method,the derive robot communion cantilever mixed order operator splitting transport of time and space change rule was solved to obtain the influence rule of cantilever space offset impact load,inertia and time on temperature gradient and axial deformation on cantilever vibration due to the variable parameters.The test results showed that the mixed order time and space load and the braking constraint were directly proportional to the modal frequency and the inertia offset.The results of theoretical analysis and simulation were consistent with the experimental calibration data and cross correlation.
作者
罗天洪
李乔易
苗长斌
郑浪
LUO Tianhong;LI Qiaoyi;MIAO Changbin;ZHENG Lang(School of Robot Engineering and Mechanical-Electrical Engineering,Chongqing University of Arts and Science,Chongqing 402160,China;School of Mechanical and Vehicle Engineering,Chongqing Jiaotong University,Chongqing 400074,China)
出处
《计算机集成制造系统》
EI
CSCD
北大核心
2019年第1期147-154,共8页
Computer Integrated Manufacturing Systems
基金
国家自然科学基金资助项目(51375519)
重庆市研究生科研创新资助项目(CYS17196
CYS17201)~~
关键词
共融悬臂
换轨机器人
混阶时空
算子分裂
eutectic cantilever
track robot
mixed space-time
operator splitting
作者简介
罗天洪(1975-),男,四川乐至人,教授,博士,研究方向:机器人,机电液一体化等,E-mail:tianhong.luo@163.com;李乔易(1992-),男,湖北荆门人,硕士研究生,研究方向:机器人机构学与运动学;苗长斌(1991-),男,河南新乡人,硕士研究生,研究方向:机器人动力学及系统控制;郑浪(1992-),男,四川达州人,硕士研究生,研究方向:机器人自动化及智能化。
