Compound control method for reliability of the robotic arms with clearance joint

IF 1.9 3区 工程技术 Q3 MECHANICS
Yaodong Fu, Xiuting Sun, Zigen Song, Jian Xu
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Abstract

This study provides a reliability improvement control method for robotic arms with clearance joints. Firstly, the dynamical model of a six-DOF robotic arm with joint clearance is established, and the Archard model is utilized to describe joint wear, considering its effect on clearance evolution. The kinematic and dynamic characteristics of the robotic arm with clearances are analyzed concerning the contact and operation state variations. Then, the influence of clearance wear on the operational reliability of the robotic arm is studied as joint wear in the robotic arm contains interval uncertainty. To provide the uncertainty factors caused by the interval, we introduce Chebyshev functions to describe the dynamic response uncertainty and reliability. The non-probabilistic reliability index is given to evaluate the reliability of the robotic arm based on the stress intensity interference theory. Lastly, to improve operational accuracy and reliability, a novel compound control strategy containing collision force feedforward and PD feedback is carried out. It is compared with the traditional PD control strategy. Also, the sensitivity and robustness of the proposed compound control strategies are discussed. The results show that the proposed control strategy can effectively enhance the dynamics precision and reliability of the robotic arm, with satisfactory robustness. This study provides the control method for joint-worn robotic arms with undesired joint clearance, having significant potential applications for guaranteeing mission reliability in the fields of aerospace and industrial robotics.

Abstract Image

提高带间隙接头机械臂可靠性的复合控制方法
本研究为具有间隙关节的机械臂提供了一种提高可靠性的控制方法。首先,建立了带关节间隙的六自由度机械臂动力学模型,并利用 Archard 模型描述关节磨损,同时考虑其对间隙演变的影响。分析了带有间隙的机械臂在接触和运行状态变化方面的运动学和动力学特性。然后,研究了间隙磨损对机械臂运行可靠性的影响,因为机械臂中的关节磨损包含间隔不确定性。为了提供由间隙引起的不确定性因素,我们引入了切比雪夫函数来描述动态响应的不确定性和可靠性。基于应力强度干涉理论,我们给出了非概率可靠性指数来评估机械臂的可靠性。最后,为了提高操作精度和可靠性,采用了一种包含碰撞力前馈和 PD 反馈的新型复合控制策略。它与传统的 PD 控制策略进行了比较。此外,还讨论了所提出的复合控制策略的灵敏度和鲁棒性。结果表明,所提出的控制策略能有效提高机械臂的动力学精度和可靠性,并具有令人满意的鲁棒性。这项研究为具有非期望关节间隙的关节磨损机械臂提供了控制方法,在保证航空航天和工业机器人领域任务的可靠性方面具有重要的潜在应用价值。
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
Meccanica
Meccanica 物理-力学
CiteScore
4.70
自引率
3.70%
发文量
151
审稿时长
7 months
期刊介绍: Meccanica focuses on the methodological framework shared by mechanical scientists when addressing theoretical or applied problems. Original papers address various aspects of mechanical and mathematical modeling, of solution, as well as of analysis of system behavior. The journal explores fundamental and applications issues in established areas of mechanics research as well as in emerging fields; contemporary research on general mechanics, solid and structural mechanics, fluid mechanics, and mechanics of machines; interdisciplinary fields between mechanics and other mathematical and engineering sciences; interaction of mechanics with dynamical systems, advanced materials, control and computation; electromechanics; biomechanics. Articles include full length papers; topical overviews; brief notes; discussions and comments on published papers; book reviews; and an international calendar of conferences. Meccanica, the official journal of the Italian Association of Theoretical and Applied Mechanics, was established in 1966.
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