Establishment of Hysteresis Stiffness Model and Kinematic Precision Analysis of Manipulators
Considering the hysteresis effect of the harmonic reducer in the joint and that when the joint is subject to alternating load torques, the hysteresis effect will have great influence on the output precision. However, the load on each joint of the multi-DOF manipulator is not constant and the hystere...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2022-11-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2022.11.004 |
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| author | He Junkai Yue Xiaoli Li Yuliang Ma Feihong |
| author_facet | He Junkai Yue Xiaoli Li Yuliang Ma Feihong |
| author_sort | He Junkai |
| collection | DOAJ |
| description | Considering the hysteresis effect of the harmonic reducer in the joint and that when the joint is subject to alternating load torques, the hysteresis effect will have great influence on the output precision. However, the load on each joint of the multi-DOF manipulator is not constant and the hysteresis effect of harmonic reducers in the joint should be considered when analyzing the precision of the manipulator's end motion. A stiffness model with the hysteresis effect is proposed. Combined with the Stribeck friction model, a dynamic model of the manipulator is established. By solving the model, the end motion trajectory of the manipulator considering the hysteresis of the harmonic reducer's torsional angle is obtained. The motion accuracy index is established and the influence of the hysteresis angle and torsional stiffness of harmonic reducers on the trajectory accuracy of manipulators is analyzed. The results can provide reference for the harmonic reducer in the engineering design process of manipulators. |
| format | Article |
| id | doaj-art-d1e2f44afb6940d1b88db3bdb5b6fe7a |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2022-11-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-d1e2f44afb6940d1b88db3bdb5b6fe7a2025-01-10T14:56:35ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392022-11-0146212632292812Establishment of Hysteresis Stiffness Model and Kinematic Precision Analysis of ManipulatorsHe JunkaiYue XiaoliLi YuliangMa FeihongConsidering the hysteresis effect of the harmonic reducer in the joint and that when the joint is subject to alternating load torques, the hysteresis effect will have great influence on the output precision. However, the load on each joint of the multi-DOF manipulator is not constant and the hysteresis effect of harmonic reducers in the joint should be considered when analyzing the precision of the manipulator's end motion. A stiffness model with the hysteresis effect is proposed. Combined with the Stribeck friction model, a dynamic model of the manipulator is established. By solving the model, the end motion trajectory of the manipulator considering the hysteresis of the harmonic reducer's torsional angle is obtained. The motion accuracy index is established and the influence of the hysteresis angle and torsional stiffness of harmonic reducers on the trajectory accuracy of manipulators is analyzed. The results can provide reference for the harmonic reducer in the engineering design process of manipulators.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2022.11.004ManipulatorHarmonic reducerHysteresis effectDynamics modeling |
| spellingShingle | He Junkai Yue Xiaoli Li Yuliang Ma Feihong Establishment of Hysteresis Stiffness Model and Kinematic Precision Analysis of Manipulators Jixie chuandong Manipulator Harmonic reducer Hysteresis effect Dynamics modeling |
| title | Establishment of Hysteresis Stiffness Model and Kinematic Precision Analysis of Manipulators |
| title_full | Establishment of Hysteresis Stiffness Model and Kinematic Precision Analysis of Manipulators |
| title_fullStr | Establishment of Hysteresis Stiffness Model and Kinematic Precision Analysis of Manipulators |
| title_full_unstemmed | Establishment of Hysteresis Stiffness Model and Kinematic Precision Analysis of Manipulators |
| title_short | Establishment of Hysteresis Stiffness Model and Kinematic Precision Analysis of Manipulators |
| title_sort | establishment of hysteresis stiffness model and kinematic precision analysis of manipulators |
| topic | Manipulator Harmonic reducer Hysteresis effect Dynamics modeling |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2022.11.004 |
| work_keys_str_mv | AT hejunkai establishmentofhysteresisstiffnessmodelandkinematicprecisionanalysisofmanipulators AT yuexiaoli establishmentofhysteresisstiffnessmodelandkinematicprecisionanalysisofmanipulators AT liyuliang establishmentofhysteresisstiffnessmodelandkinematicprecisionanalysisofmanipulators AT mafeihong establishmentofhysteresisstiffnessmodelandkinematicprecisionanalysisofmanipulators |