Multi-energy Domain Dynamic Full Solution Model and Experiment for the 4-DOF Hybrid Robot

doi:10.3901/JME.2017.23.092

Abstract

Abstract: 4-DOF hybrid robot is taken as the research object. Firstly the kinematics of hybrid robot is analyzed and the system driving (motor and pneumatic parts) bond graph model has established based on the traditional bond graph, the system dynamics model of mechanical has established based on the screw bond graph theory. Because the system uses parallel redundant actuation, added one additional equation base on the power input method optimization to finally get the robot complete machine, electricity and gas coupling of multi energy domains system dynamics model. In the two case of the redundant driving branch is casual and applies with optimized force (force/position hybrid control), according to the planning trajectory with bond graph automatic simulation software (20-sim) multi domain dynamic simulation; the control experiment of the prototype is carried out and the driving torques obtained by simulation are compared with the experimental results. So, the robot system can validate the correctness of the multi domain dynamics model. The experimental results show that the machine runs more smoothly and effectively improve the kinematic accuracy when the machine controlled through the hybrid force/position control.

Key words: 20-sim, dynamic modeling, hybrid robot, redundant actuation, screw bond graph

CLC Number:

TG156

LI Yongquan, SHAN Zhangbing, WANG Lijie, ZHANG Lijie. Multi-energy Domain Dynamic Full Solution Model and Experiment for the 4-DOF Hybrid Robot[J]. Journal of Mechanical Engineering, 2017, 53(23): 92-100.

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