中国机械工程2025，Vol.36Issue(5)：974-985,12.DOI:10.3969/j.issn.1004-132X.2025.05.009
一种考虑弱刚性关节传动链结构和柔性杆结构的机器人刚度辨识方法
A Robot Stiffness Identification Method Considering Weakly Rigid Joint Transmission Chain Structures and Flexible Rod Structures
摘要
Abstract
To solve the stiffness identification problem for a 3 T2 R highly dexterous robot with weakly rigid joint transmission chain structures and flexible rod structures,a robot stiffness identifi-cation method was proposed.Firstly,the structural characteristics of the compact and cost-effective hybrid robot configuration design and the motion characteristics for adjusting the high dexterity of op-erational postures were analyzed.The robot Jacobian matrix was constructed,and the end deformation model of the robot was established to analyze the influences of weakly rigid joint transmission chain structures and flexible rod structures on the robot end deformations.Then,considering the effects of weakly rigid joint transmission chain structures and flexible rod structures,along with the robotic structural characteristics of weak rigidity and large deformation,robot joint stiffness identification was carried out,and the variable stiffness modeling was completed for the mobile joint 3.Experimental results indicate that the proposed methodincreases the stiffness of joints 3,joint4 and 5 by 146.59%,30.18%and 36.07%respectively,compared to conventional stiffness identification methods.The error rates between the measured and theoretical calculation values of the overall end deformations are in 4%～6%at six selected robot poses.The capability of the proposed robot stiffness identification method was verified.关键词
刚度辨识/弱刚性关节传动链/柔性杆/机器人末端变形/高灵巧性机器人Key words
stiffness identification/weakly rigid joint transmission chain/flexible rod/robot end deformation/highly dexterous robot分类
计算机与自动化引用本文复制引用
郭万金,李儒,王利斌,郝钦磊,曹雏清,赵立军..一种考虑弱刚性关节传动链结构和柔性杆结构的机器人刚度辨识方法[J].中国机械工程,2025,36(5):974-985,12.基金项目
国家自然科学基金(52275005) （52275005）
陕西省自然科学基础研究计划(2025JC-QYXQ-027) （2025JC-QYXQ-027）
中央高校基本科研业务费专项资金(300102253201) （300102253201）
中国博士后科学基金(2024M760002) （2024M760002）
安徽省博士后科研项目(2023B675,2022B627) （2023B675,2022B627）
芜湖市重点研发与成果转化项目(2023yf044) （2023yf044）
