Dynamic Characteristics of Electromechanical Coupling and Fuzzy Control of Intelligent Joints for Robot Drive and Control-Reference-Cited by-同舟云学术

Dynamic Characteristics of Electromechanical Coupling and Fuzzy Control of Intelligent Joints for Robot Drive and Control

Published:2023-01-09 Issue:4 Volume:23 Page:
ISSN:1530-9827
Container-title:Journal of Computing and Information Science in Engineering
language:en
Short-container-title:

Author:

Mo Shuai¹²³,Zhou Changpeng⁴,Li Xu⁴,Yang Zhenning⁴,Cen Guojian⁵,Huang Yunsheng⁶

Affiliation:

1. Guangxi University Key Laboratory of Disaster Prevention and Structural Safety of Ministry of Education, School of Mechanical Engineering, Guangxi Key Laboratory of Disaster Prevention and Engineering Safety, , Nanning 530004 , China ;

2. Huazhong University of Science and Technology State Key Lab of Digital Manufacturing Equipment and Technology, , Wuhan 430074 China ;

3. Jiangsu Wanji Transmission Technology Co., Ltd. , Taizhou 225400 , China

4. School of Mechanical Engineering, Tiangong University , Tianjin 300387 , China

5. Ningbo Zhongda Leader Transmission Equipment Co. Ltd. , Ningbo 315301 , China

6. Shenzhen Hefa Gear Machinery Co., Ltd. , Shenzhen 518109 , China

Abstract

Abstract In this technical brief, the resonance problem of a robot joint is analyzed. By establishing the electromechanical coupling dynamic equation of the robot joint, the natural vibration characteristics of the electromechanical coupling system are calculated, and the resonance is analyzed by combining the modal energy and Campbell diagram. It is found that when the meshing frequency coincides with the seventh- and eighth-order natural frequencies, resonance is easy to occur. The influence of different parameters on natural characteristics is analyzed. The increase of torsional stiffness and meshing stiffness will increase the natural frequency. Different control algorithms will have different impacts on the transmission system, and fuzzy control is better than double closed-loop control.

Publisher

ASME International

Subject

Industrial and Manufacturing Engineering,Computer Graphics and Computer-Aided Design,Computer Science Applications,Software

Link

https://asmedigitalcollection.asme.org/computingengineering/article-pdf/23/4/044502/6972790/jcise_23_4_044502.pdf

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