Identification and modeling of friction forces at a hydraulic parallel link manipulator joints

SICE 2001. Proceedings of the 40th SICE Annual Conference. International Session Papers (IEEE Cat. No.01TH8603) Pub Date : 2001-07-25 DOI:10.1109/SICE.2001.977813

Z. Zyada, T. Fukuda

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引用次数: 6

Abstract

Compensation for friction is essential for accurate assembly. Friction identification and modeling is the first step towards compensation for its effect. We propose an identification method and modeling of friction forces at the prismatic joints of a six d.o.f. hydraulically powered parallel link manipulator. First, we introduce a mathematical basis for friction forces identification at every prismatic joint, and then we identify friction forces at the prismatic joints using pressure sensors experimentally. The proposed method does not use any additional instruments or sensors, neither does it need any special design of the manipulator joints and hence, it is cost effective and reliable. We also present an experimental evaluation of friction forces at every prismatic joint based on the proposed method. A suitable model for friction forces at the joints is determined. The results show that friction forces may differ from one actuator to another as every actuator has its own characteristics. This assures the need for proper compensation for every actuator friction forces.

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液压并联机械臂关节摩擦力辨识与建模

摩擦补偿是精确装配的必要条件。摩擦识别和建模是补偿其影响的第一步。提出了一种六自由度液压并联机械臂移动关节处摩擦力的辨识方法和建模方法。首先介绍了各关节处摩擦力辨识的数学基础，然后利用压力传感器对关节处摩擦力进行了实验辨识。该方法不使用任何额外的仪器或传感器，也不需要对机械手关节进行任何特殊设计，因此具有成本效益和可靠性。我们还提出了一个实验评估摩擦力在每个移动关节基于所提出的方法。确定了合适的结合部摩擦力模型。结果表明，由于每个作动器都有自己的特性，不同作动器之间的摩擦力可能不同。这保证了需要适当补偿每一个执行机构的摩擦力。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

SICE 2001. Proceedings of the 40th SICE Annual Conference. International Session Papers (IEEE Cat. No.01TH8603)

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