Vibration characteristics of industrial robot joint servo transmission system based on electromechanical coupling

被引：4
作者：
Hu, Jinxiang [1 ,2 ]
Wang, Zhihai [1 ,2 ]
Liu, Yinan [1 ,2 ]
Liu, Xiaoqin [1 ,2 ]
Yang, Xiaobo [1 ,2 ]
机构：
[1] Kunming Univ Sci & Technol, Fac Mech & Elect Engn, Kunming 650500, Peoples R China
[2] Kunming Univ Sci & Technol, Key Lab Adv Equipment Intelligent Mfg Technol Yunn, Kunming 650500, Peoples R China
来源：
MEASUREMENT SCIENCE AND TECHNOLOGY | 2023年 / 34卷 / 12期
关键词：
industrial robot; joint; electromechanical coupling; servo transmission system; vibration model; TORSIONAL VIBRATION;
D O I：
10.1088/1361-6501/acf877
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
The complex electromechanical coupling effect of an industrial robot's electromechanical system significantly influences the dynamic characteristics and stability of the joint servo transmission system. This study proposes a kind of electromechanical coupling dynamic model for the industrial robot's joint servo transmission system, incorporating multiple parameters, and investigates the vibration response characteristics of the system. Firstly, an electromechanical coupling analysis of the industrial robot's joint servo transmission system is conducted, simplifying it as a 'motor-reducer-load' system and establishing the corresponding electromechanical coupling vibration mathematical model. Secondly, a dynamic model of the robot's joint servo transmission system is developed to analyze its speed characteristics. Finally, the model is used to analyze the electromechanical coupling vibration process of the joint servo transmission system with the introduction of mechanical and electrical parameters and other factors to obtain the vibration characteristics of the industrial robot joint servo transmission system under electromechanical coupling. The experimental results show that this model can better analyze the electromechanical coupling vibration characteristics of the joint servo transmission system, which is significant for improving the performance and fault traceability of the industrial robot joint transmission.
引用
收藏
页数：17
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