摘要
随着快递行业的飞速发展,包塑件抓取方面需要更稳定的机器人执行器,为此设计了一种考虑零力矩点的抓取机器人偏摆力矩控制方法。在抓取控制过程中,使配置零力矩点(ZMP)处于支撑多边形内,维持抓取过程的稳定性,满足对扭矩精确控制的要求。选用HPR机器人和BRZ机器人开展偏摆力矩测试。研究结果表明:与未配置ZMP相比,配置ZMP的最大角加速度比未配置ZMP大约增加50%,偏摆力矩下降幅度更大,减弱扭力的不良影响。该研究能够提高抓取机器人运行稳定性,为后续工艺优化奠定一定的理论基础。
With the rapid development of the express delivery industry,a more stable robot actuator is needed for the grasping of plastic-coated parts.For this purpose,a control method for the yaw torque of the grasping robot considering the zero torque point is designed.During the grasping control process,the zero torque point(ZMP)is placed within the support polygon to maintain the stability of the grasping process and meet the requirements for precise torque control.The HPR robot and the BRZ robot were selected to conduct the yaw torque test.The research results show that:Compared with the absence of ZMP configuration,the maximum angular acceleration with ZMP configuration is approximately 50% higher than that without ZMP configuration,the decrease amplitude of the yaw torque is greater,and the adverse effects of torque are weakened.This research can improve the operational stability of the grasping robot and lay a certain theoretical foundation for the subsequent process optimization.
作者
干伟
隆瑶
Gan Wei;Long Yao(Neijiang Polytechnic College,School of Intelligent Manufacturing and Automotive Engineering,Neijiang Sichuan 641000,China)
出处
《机械管理开发》
2025年第12期27-28,66,共3页
Mechanical Management and Development
关键词
抓取机器人
零力矩点
偏摆力矩
性能测试
grasping robot
zero torque point
yaw torque
performance test
