Research on Dynamic Modeling and Parameter Identification of 2R Coupling Drive Joint

doi:10.3901/JME.2022.23.051

Abstract

Abstract: A kind of 2R coupling drive joint configuration is proposed to meet the requirements of human-robot safe contact and light-weight-large-load of the nursing-care robot. The coupling drive dynamics modeling method is solved, which provides a basis for building a high-performance motion controller. After three-stage deceleration, the two servo motors of the joint realize the coupling output of two degrees of freedom through the differential structure. This design makes the joint suitable for contact with people by strong load capacity and smooth surface. The principle of coupling drive is analyzed through kinematics, and the dynamic model of coupling drive is established by the Lagrange method. The continuous differentiable friction model is introduced to solve the problem of discontinuous friction at speed zero to improve the motion performance of the motion controller. After the robot joint prototype is developed, joint decoupling, friction data acquisition, parameter identification, and trajectory tracking are conducted. The results showed that the designed coupling drive joint could complete the independent and coupling movement of turnover and pitch. The ratio of output torque to weight reaches 143.6 N·m/kg, which can meet the nursing needs of light-weight -heavy-load. At the same time, the motion control based on the established dynamic model can significantly improve the accuracy of trajectory tracking.

Key words: nursing-care robot, coupling drive joint, dynamics modeling, continuous friction model

CLC Number:

TP242

LU Hao, GUO Shijie, YANG Zhiqiang, CHEN Li, DENG Fei, WANG Hongbo. Research on Dynamic Modeling and Parameter Identification of 2R Coupling Drive Joint[J]. Journal of Mechanical Engineering, 2022, 58(23): 51-64.

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