摘要
目前的精冲件和包塑件的抓取方面需要更稳定的多功能末端执行器,为此设计了一种考虑零力矩点的机器人末端执行器电机偏摆力矩控制方案。选用HPR-2机器人和BRZ机器人开展偏摆力矩控制试验测试分析。研究结果表明:配置0力矩点(ZMP)的策略在能量利用效率方面实现了显著提升,显著影响了控制效果,有效避免峰值削减程度。相较于未配置ZMP,采用ZMP策略获得了更优偏摆力矩控制性能,确保偏摆力矩处于安全界限内,有效减少偏摆力矩造成的影响。该研究能够提高抓取机器人运行稳定性,为后续的工艺优化奠定一定的理论基础。
At present,the more stable multi-functional end effector is needed for the grasping of precision blanking parts and plastic-coated parts.For this purpose,a control scheme for the deflection torque of the robot end effector motor which considering the zero torque point was designed.The HPR-2 robot and BRZ robot were selected to carry out the test and analysis of the deflection torque control.The research results show that the strategy of configuring the Zero Moment Point(ZMP)has achieved a significant improvement in aspect of energy utilization efficiency,which can significantly affect the control effect and effectively avoid the degree of peak reduction.Compared with the absence of ZMP configuration,the strategy adopting ZMP has achieved better deflection torque control performance,which can ensure that the deflection torque is within the safety limit and can effectively reduce the impact caused by the deflection torque.This research can improve the operational stability of the grasping robot and lay a certain theoretical foundation for the subsequent technology optimization.
作者
窦林源
杨帆
Dou Linyuan;Yang Fan(School of Intelligent Manufacturing,Nanyang Vocational College of Science and Technology,Dengzhou 474150,China)
出处
《防爆电机》
2025年第5期26-28,79,共4页
Explosion-proof Electric Machine
基金
河南省高等学校重点科研项目计划(25CY026)。
