摘要
以医用机械臂为研究对象,同时考虑关节旋转铰接圆柱面及端面2处的摩擦,提出端面接触系数,利用达朗伯定理对医用机械臂进行动静力学分析求得两接触面处的法向接触力,并基于库仑摩擦模型求得两接触面摩擦力矩,结合拉格朗日方程建立了不包含摩擦及包含摩擦的2种动力学模型,通过仿真求解分析得出对于所研究的医用机械臂及结构相类似的机械臂,铰接端面处的摩擦对机械臂关节输出扭矩及末端位置影响大于圆柱面处摩擦的影响,端面接触程度越高造成能量损失越大,机械臂末端位置轨迹越混乱。
Taking the medical manipulator as the research object, considering the friction between the cylindrical surface and the end surface of the rotating articulated joint, and putting forward the contact coefficient of the end surface, the normal contact force at the two contact surfaces of the medical manipulator was obtained by the dynamic and static analysis of the medical manipulator using the Daramber theorem, and the friction torque at the two contact surfaces was obtained based on the Coulomb friction model. Based on Lagrange equation, two kinds of dynamic models including friction and no friction were established. For a medical manipulator similar to the structure studied in this paper, the influence of friction at the articulated end on the output torque and the end position of the manipulator is greater than that of friction at the cylindrical end. The higher the contact degree of the end face is, the greater the energy loss is, and the more chaotic the trajectory of the end position of the manipulator is.
作者
杨立欢
陈惠贤
YANG Lihuan;CHEN Huixian(School of Mechanical and Electrical Engineering,Lanzhou University of Technology,Lanzhou 730050,China)
出处
《机械与电子》
2020年第1期76-80,共5页
Machinery & Electronics
关键词
医用机械臂
双面接触摩擦
动力学建模
末端位置
仿真分析
medical manipulator
two-sided contact friction
dynamics modeling
end position
simulation analysis
