基于摩擦补偿的蜗轮传动救援机器人控制及实验验证

IF 1.9 4区工程技术 Q3 ENGINEERING, MECHANICAL

Advances in Mechanical Engineering Pub Date : 2023-10-01 DOI:10.1177/16878132231191031

Muhammad Shoaib, Munyu Kim, Dongil Park, Joono Cheong

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引用次数: 0

摘要

介绍了一种采用蜗轮传动的救援机器人的控制方法。在建模过程中，考虑了蜗轮的载荷相关摩擦，建立了静力分析和动力分析的控制方程。特别地，我们研究了断裂关节力矩与加载力矩和运动方向的关系。通过实验研究，确定了物理救援机器人蜗轮齿轮的摩擦参数。根据建模结果和实验工况，设计了摩擦补偿控制器。并将所设计的控制器应用于双臂救援机器人，验证了其有效性。

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Control of a worm-wheel gear driven rescue robot with friction compensation and its experimental verification

This paper presents the control of a rescue robot driven by the worm-wheel gear transmission. In the modeling process, the load-dependent friction of the worm-wheel gear is considered, and the governing equations for static and dynamic analyses are formulated. Especially we examine the dependency of break-in joint torques on the loading torque and directionality of motion. The friction parameters of the worm-wheel gear of a physical rescue robot are identified through experimental investigation. A friction compensation controller is then designed based on the modeling results and experimental operating conditions. And the designed controller is applied to a dual-arm rescue robot to validate its effectiveness.

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来源期刊

Advances in Mechanical Engineering 工程技术-机械工程

CiteScore

3.60

自引率

4.80%

发文量

353

审稿时长

6-12 weeks

期刊介绍： Advances in Mechanical Engineering (AIME) is a JCR Ranked, peer-reviewed, open access journal which publishes a wide range of original research and review articles. The journal Editorial Board welcomes manuscripts in both fundamental and applied research areas, and encourages submissions which contribute novel and innovative insights to the field of mechanical engineering