Study of electromechanical coupling dynamical characteristics of the grinding robot joint transmission system

To avoid the impact of resonance frequency on the robot grinding accuracy and enhance the robot operational performance, the electromechanical coupling characteristics of grinding robot joint transmission system are studied. Firstly, according to the actual grinding conditions, the grinding load characteristic model is established. The distribution law of grinding load is systematically revealed. Considering the electromagnetic characteristics of PMSM and the translation vibration of gear system, the global electromechanical coupling dynamical model of the grinding robot joint transmission system is constructed suitable for variable-speed operation. Then, the potential resonance region and excitation source of the system are identified by the Campbell diagram and the modal energy of the system. On this basis, the resonance point is determined by sweep frequency analysis and time domain simulation. Additionally, a test bench is set up to verify simulation results. The test results show that the grinding robot joint transmission system has resonance risk when the speed of PMSM is close to 198 r/min. In the process of speed regulation, special attention should be paid. The research results have significant guiding significance for the optimization design of the grinding robot joint transmission system and the formulation of speed regulation scheme.