多间隙末端关节空间并联机器人动力学建模与响应分析

IF 4.4 2区工程技术 Q1 ENGINEERING, MULTIDISCIPLINARY

Applied Mathematical Modelling Pub Date : 2025-10-14 DOI:10.1016/j.apm.2025.116509

Dong Liang , Tianyou Liu , Yimin Song , Boyan Chang , Zhen Wang , Guoguang Jin

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引用次数: 0

摘要

由于制造和装配错误，间隙不可避免地存在于机构的关节中。此外，各种外部因素加剧了间隙关节接触-冲击相互作用的复杂性和不稳定性，严重影响了机构的运动精度和动力学特性。然而，现有的对带间隙机构的分析主要集中在简单的平面或空间机构上，而对带间隙的复杂空间并联机构的研究还很有限。因此，本文以一种新型末端关节式复杂空间并联机器人Y3为研究对象。首先，建立了机器人的理想多体动力学模型；其次，建立了考虑Flores法向接触力和修正库仑切向摩擦力的冲击力模型；在此基础上，提出了一种基于拉格朗日乘子法的适用于复杂空间机构的多间隙关节多体动力学建模方法，并利用ADAMS进行了仿真验证。最后，分析了间隙数、间隙大小、末端载荷和摩擦系数对机器人动态响应的影响。研究结果表明，所建立的含间隙的多体动力学模型具有较高的精度，且间隙对机器人的动态响应有显著影响。增加间隙数、增大间隙尺寸、增加载荷都会不同程度地加剧机器人动态响应的不稳定性。虽然较高的摩擦系数可以提高稳定性，但它同时加速了关节的磨损并缩短了它们的使用寿命。研究结果为复杂空间并联机器人的精密制造和性能提升提供了理论依据，具有较高的工程应用价值。

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Dynamic modelling and response analysis of end-articulated spatial parallel robot with multi-clearance joints

Due to manufacturing and assembly errors, clearances are inevitably present in the joints of a mechanism. Moreover, various external factors exacerbate the complexity and instability of contact-impact interactions in clearance joints, which can significantly affect the motion accuracy and dynamic characteristics of the mechanism. However, existing analyses of mechanisms with clearances have mainly focused on simple planar or spatial mechanisms, while research on complex spatial parallel mechanisms with clearances remains limited. Therefore, this paper takes a novel end-articulated complex spatial parallel robot (named ‘Y3’) as the research object. Firstly, the ideal multi-body dynamic model of the robot is established. Secondly, an impact force model considering the Flores normal contact force and the modified Coulomb tangential friction force is established. On this basis, a modeling method for multi-body dynamics with multi-clearance joints applicable to complex spatial mechanisms based on the Lagrange multiplier method is proposed, and the theoretical model is verified by simulation employing ADAMS. Finally, this paper analyzes the effects of clearance number, clearance size, end load and friction coefficient on the robot’s dynamic response. The research results indicate that the developed multi-body dynamic model with clearances exhibits high accuracy, and clearances have a significant impact on the dynamic response of the robot. Increasing the number of clearances, enlarging the clearance size, and increasing the load will all exacerbate the instability of the robot's dynamic response to varying degrees. While a higher friction coefficient can improve stability, it simultaneously accelerates joint wear and shortens their service life. The results provide a theoretical basis for the precision manufacturing and improved performance of complex spatial parallel robots, with high engineering application value.

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来源期刊

Applied Mathematical Modelling 数学-工程：综合

CiteScore

9.80

自引率

8.00%

发文量

508

审稿时长

43 days

期刊介绍： Applied Mathematical Modelling focuses on research related to the mathematical modelling of engineering and environmental processes, manufacturing, and industrial systems. A significant emerging area of research activity involves multiphysics processes, and contributions in this area are particularly encouraged. This influential publication covers a wide spectrum of subjects including heat transfer, fluid mechanics, CFD, and transport phenomena; solid mechanics and mechanics of metals; electromagnets and MHD; reliability modelling and system optimization; finite volume, finite element, and boundary element procedures; modelling of inventory, industrial, manufacturing and logistics systems for viable decision making; civil engineering systems and structures; mineral and energy resources; relevant software engineering issues associated with CAD and CAE; and materials and metallurgical engineering. Applied Mathematical Modelling is primarily interested in papers developing increased insights into real-world problems through novel mathematical modelling, novel applications or a combination of these. Papers employing existing numerical techniques must demonstrate sufficient novelty in the solution of practical problems. Papers on fuzzy logic in decision-making or purely financial mathematics are normally not considered. Research on fractional differential equations, bifurcation, and numerical methods needs to include practical examples. Population dynamics must solve realistic scenarios. Papers in the area of logistics and business modelling should demonstrate meaningful managerial insight. Submissions with no real-world application will not be considered.