Fatigue life modeling of linear actuators in robotics and automation

2016 IEEE International Conference on Information and Automation (ICIA) Pub Date : 2016-08-01 DOI:10.1109/ICINFA.2016.7831839

Krishna Meruva, Z. Bi

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引用次数: 3

Abstract

The wear and fatigue life of actuators is a topic of great interest in the field of Industrial Automation since linear actuators are essential components to many machine tools and robots. The fatigue life of a linear actuator closely relates to many factors such as loads lubrication, material properties, surface properties, pressure, and temperature. Therefore, the fatigue life cannot be modeled without a simultaneous consideration of solid mechanics, fluid dynamics, contact mechanics, and thermal dynamics. Despite of numerous publications in past 50 years, research is in a great demand in predicting fatigue life of linear actuators. We are motived to model and validate the fatigue life of lead screw actuators. Firstly, the theory of asperity contact and the Archard's model of sliding wear are applied to estimate the amount of wear under given circumstances. Secondly, a test platform is developed based on a standard ASTM test protocol, and the wear phenomenon at the ball-on-flat sliding is measured to validate the developed wear model. Thirdly, the finite element analysis is conducted to assess the contact stresses in the assembly model of actuators. The estimated data from three sources are merged to formulate a mathematical model in predicting the fatigue life of lead-screw actuators.

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机器人与自动化中线性执行器的疲劳寿命建模

由于线性执行器是许多机床和机器人的基本部件，因此执行器的磨损和疲劳寿命是工业自动化领域非常感兴趣的话题。线性执行器的疲劳寿命与载荷、润滑、材料性能、表面性能、压力和温度等因素密切相关。因此，如果不同时考虑固体力学、流体力学、接触力学和热动力学，就不能对疲劳寿命进行建模。近50年来，线性作动器疲劳寿命的预测研究一直处于空白状态。我们有动力对丝杠执行机构的疲劳寿命进行建模和验证。首先，应用粗糙接触理论和阿卡德滑动磨损模型对给定条件下的磨损量进行估算。其次，根据标准的ASTM测试方案开发了测试平台，并测量了球对平面滑动的磨损现象，验证了所开发的磨损模型。第三，对执行器装配模型中的接触应力进行了有限元分析。将三个来源的估计数据合并，建立了预测丝杠执行机构疲劳寿命的数学模型。

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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2016 IEEE International Conference on Information and Automation (ICIA)

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