用于工业机器人的摆线减速器负载、速度与温度相关传动误差的傅里叶级数建模
Modeling Load-, Velocity-, and Temperature-Dependent Transmission Errors of Cycloidal Drives for Industrial Robots Using Fourier Series
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中文总结 AI 辅助
针对工业机器人摆线减速器传动误差，提出用傅里叶级数建模负载、速度、温度的影响，实验验证误差为0.026毫弧度，可用于前馈补偿提升路径精度。
中文摘要 AI 辅助
工业机器人因其路径精度有限而很少用于加工任务。这种精度主要受限于传动系统中的不准确性。关节齿轮箱中会出现柔性和传动误差。虽然传动误差已在应变波齿轮上得到广泛研究，但针对摆线减速器中这些误差的研究却很少。这种齿轮箱类型常用于中重型有效载荷的工业机器人。本文提出使用傅里叶级数对主要呈周期性的传动误差进行建模，其中幅值和相位定义为主要影响因素（负载扭矩、速度和温度）的多项式函数。使用代表单个机器人关节的实验装置进行了传动误差测量。在测量数据的评估中，谐波频率与摆线减速器的机械特性相关联。这些频率用于识别多项式傅里叶级数模型的参数。与验证测量相比，所推导模型显示出平均均方根误差为0.026毫弧度。建议将所得模型的输出用于前馈控制方法中，以补偿传动误差并提高工业机器人的路径精度。
英文摘要
Industrial robots are rarely used for machining tasks due to their limited path accuracy. This accuracy is mainly limited by inaccuracies in the drive trains. Compliance and transmission errors occur in the joint gearboxes. While transmission errors have been extensively studied for strain wave gears, there is little research on these errors in cycloidal drives. This gearbox type is commonly used in industrial robots for medium to heavy payloads. It is proposed to model the mainly periodic transmission errors using a Fourier series where amplitude and phase are defined as a polynomial function of the main influence factors load-torque, velocity, and temperature. Measurements of the transmission errors were conducted using an experimental setup representing a single robot joint. In the evaluation of the measurement data, harmonic frequencies were related to mechanical properties of the cycloidal drive. These frequencies were used to identify the parameters of the polynomial Fourier series model. Compared to validation measurements, the derived model shows an average root mean square error of 0.026 mrad. It is proposed to use the output of the resulting model in a feedforward control approach to compensate the transmission errors and to increase the path accuracy of industrial robots.
