基于关节摩擦的机械手臂.doc
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基于关节摩擦的机械手臂,摘要摩擦是大多数机械系统中不可避免的一种现象，由于摩擦会带来稳态误差，影响系统的动态特性以及系统精度的提高，摩擦问题已经成为当前研究的热点。在机械手臂系统中，关节摩擦严重影响了机械手臂系统性能的提高，使得手臂在运动过程中产生误差。低速时摩擦的非线性环节对机械手臂系统的影响尤为突出，因此必须采取合理的措施消除关节摩擦带来...
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摘要
摩擦是大多数机械系统中不可避免的一种现象，由于摩擦会带来稳态误差，影响系统的动态特性以及系统精度的提高，摩擦问题已经成为当前研究的热点。在机械手臂系统中，关节摩擦严重影响了机械手臂系统性能的提高，使得手臂在运动过程中产生误差。低速时摩擦的非线性环节对机械手臂系统的影响尤为突出，因此必须采取合理的措施消除关节摩擦带来的影响。
本文将减小关节摩擦对机械系统的影响作为主要目的，首先对摩擦模型进行了讨论，并选定LuGre摩擦模型为研究重点；接着对磨削机械手臂的运动学，工作空间以及动力学进行了研究；分析了关节摩擦在机械系统中的影响，并采用自适应控制对关节摩擦进行补偿。并将该理论应用于机械手臂系统中，针对磨削机械手臂运动过程中的关节摩擦现象进行了自适应补偿研究，建立了机械手臂摩擦控制原型系统。
本文的主要研究内容如下：
(1)结合摩擦学领域的最新成果，对几种重要的摩擦模型进行研究。对比分析不同摩擦模型的优点和缺点，选取LuGre摩擦模型作为文章的研究对象，并实现了LuGre摩擦模型在预滑阶段和滑动阶段的仿真。
(2)推导了六自由度磨削机械手臂的运动学模型，并对其工作空间进行了求解；采用拉格朗日方法建立了磨削机械手臂的动力学模型，并重点分析了关节摩擦对磨削机械手臂的影响情况。
(3)从理论上证明了LuGre摩擦的自适应摩擦补偿方法能够消除关节摩擦对机械手臂系统的影响，通过仿真实验对比分析了采用PID控制、采用自适应库仑摩擦补偿和采用自适应LuGre摩擦补偿等方法对机械手臂的影响情况，验证了使用LuGre自适应摩擦补偿方法的实用性。
(4)借助Visual C++、MATLAB、UG等软件完成了磨削机械手臂仿真原型系统的开发，实现了自动化建模，装配和仿真等功能，为机械手臂的设计提供了理论基础。
关键词：LuGre摩擦；机械手臂；动力学；关节摩擦；摩擦补偿
Abstract
The friction is a kind of phenomenon that inevitable in most mechanical system, and it will bring steady-state error, influence the dynamic characteristics of the system and the accuracy of system, so friction problem has become the focus of research. In the mechanical arm system, the joint friction has a serious impact on performance improvement of the system, and makes errors in the process.The influence of nonlinear friction when mechanical arm system in low speed is particularly outstanding, therefore must take reasonable measures to eliminate the effects of joint friction.
This paper will reduce joint friction on the influence of the mechanical system as the main purpose, first the friction model was discussed, and LuGre friction model was selected for study; Then studyed the kinematics, work space, and dynamics of the grinding the mechanical arm; Analyzes the friction in the system in mechanical joint influence, and by using the adaptive control on joint friction to compensate. And applies this theory in the mechanical arm system, has conducted the auto-adapted compensation research in view of the grinding mechanical arm rate process in joint friction phenomenon, established the mechanical arm to rub the control prototype system.
The main research of this paper are as follows:
(1) According to the latest achievements of tribological field, choose several important friction models for research. Give a comparative analysis the advantages and disadvantages of the different friction models, select LuGre friction model as the research object, and realized the simulation of its dynamic characteristics in the Pre-slippery stage and sliding stage.
(2) Derived the kinematics model of 6-DOF the grinding mechanical arm, and its working space are solved; By using Lagrange method to establish the dynamics model of the grinding mechanical arm, and analyses the joint friction on the influence of the grinding the mechanical arm.
(3) Proved LuGre friction adaptive compensating friction can be good to eliminate joint friction on the influence of mechanical arm system in theory, through the simulation experiment is compared with that of PID control, using adaptive coulomb friction compensation and using adaptive LuGre friction compensation method to the influence of the mechanical arm, verify the use of LuGre adaptive friction compensation method is practical.
(4) With Visual C++, MATLAB, UG software etc. completed the development of grinding mechanical arm simulation system, realized the automation of modeling, assembly and simulation, and other functions, for the design of mechanical arm provides theory basis.
Key words: LuGre Friction;The Mechanical Arm;Dynamics;Joint Friction;Friction Compensation
目 录
摘要 I
Abstract III
第1章 绪论 1
1.1课题的研究意义 1
1.2 国内外研究现状及分析 2
1.2.1 机械系统摩擦力模型的研究现状 2
1.2.2 机械手臂动力学研究现状 3
1.2.3 含摩擦环节的系统动力学研究现状 4
1.2.4 机械手臂关节摩擦补偿的研究现状 5
1.3 论文主要研究内容与结构 6
1.3.1 主要研究内容 6
1.3.2 本文的结构 8
1.4 本章小结 9
第2章 摩擦模型的研究及LuGre模型的仿真 10
2.1 摩擦的四个阶段 10
2.2 现有摩擦模型的介绍 12
2.2.1 Dahl摩擦模型 13
2.2.2 Bliman-Sorine摩擦模型 14
2.2.3 鬃毛摩擦模型 15
2.2.4 Karnopp摩擦模型 15
2.2.5 Stribeck摩擦模型 16
2.2.6 LuGre摩擦模型 16
2.3 LuGre摩擦模型..
摩擦是大多数机械系统中不可避免的一种现象，由于摩擦会带来稳态误差，影响系统的动态特性以及系统精度的提高，摩擦问题已经成为当前研究的热点。在机械手臂系统中，关节摩擦严重影响了机械手臂系统性能的提高，使得手臂在运动过程中产生误差。低速时摩擦的非线性环节对机械手臂系统的影响尤为突出，因此必须采取合理的措施消除关节摩擦带来的影响。
本文将减小关节摩擦对机械系统的影响作为主要目的，首先对摩擦模型进行了讨论，并选定LuGre摩擦模型为研究重点；接着对磨削机械手臂的运动学，工作空间以及动力学进行了研究；分析了关节摩擦在机械系统中的影响，并采用自适应控制对关节摩擦进行补偿。并将该理论应用于机械手臂系统中，针对磨削机械手臂运动过程中的关节摩擦现象进行了自适应补偿研究，建立了机械手臂摩擦控制原型系统。
本文的主要研究内容如下：
(1)结合摩擦学领域的最新成果，对几种重要的摩擦模型进行研究。对比分析不同摩擦模型的优点和缺点，选取LuGre摩擦模型作为文章的研究对象，并实现了LuGre摩擦模型在预滑阶段和滑动阶段的仿真。
(2)推导了六自由度磨削机械手臂的运动学模型，并对其工作空间进行了求解；采用拉格朗日方法建立了磨削机械手臂的动力学模型，并重点分析了关节摩擦对磨削机械手臂的影响情况。
(3)从理论上证明了LuGre摩擦的自适应摩擦补偿方法能够消除关节摩擦对机械手臂系统的影响，通过仿真实验对比分析了采用PID控制、采用自适应库仑摩擦补偿和采用自适应LuGre摩擦补偿等方法对机械手臂的影响情况，验证了使用LuGre自适应摩擦补偿方法的实用性。
(4)借助Visual C++、MATLAB、UG等软件完成了磨削机械手臂仿真原型系统的开发，实现了自动化建模，装配和仿真等功能，为机械手臂的设计提供了理论基础。
关键词：LuGre摩擦；机械手臂；动力学；关节摩擦；摩擦补偿
Abstract
The friction is a kind of phenomenon that inevitable in most mechanical system, and it will bring steady-state error, influence the dynamic characteristics of the system and the accuracy of system, so friction problem has become the focus of research. In the mechanical arm system, the joint friction has a serious impact on performance improvement of the system, and makes errors in the process.The influence of nonlinear friction when mechanical arm system in low speed is particularly outstanding, therefore must take reasonable measures to eliminate the effects of joint friction.
This paper will reduce joint friction on the influence of the mechanical system as the main purpose, first the friction model was discussed, and LuGre friction model was selected for study; Then studyed the kinematics, work space, and dynamics of the grinding the mechanical arm; Analyzes the friction in the system in mechanical joint influence, and by using the adaptive control on joint friction to compensate. And applies this theory in the mechanical arm system, has conducted the auto-adapted compensation research in view of the grinding mechanical arm rate process in joint friction phenomenon, established the mechanical arm to rub the control prototype system.
The main research of this paper are as follows:
(1) According to the latest achievements of tribological field, choose several important friction models for research. Give a comparative analysis the advantages and disadvantages of the different friction models, select LuGre friction model as the research object, and realized the simulation of its dynamic characteristics in the Pre-slippery stage and sliding stage.
(2) Derived the kinematics model of 6-DOF the grinding mechanical arm, and its working space are solved; By using Lagrange method to establish the dynamics model of the grinding mechanical arm, and analyses the joint friction on the influence of the grinding the mechanical arm.
(3) Proved LuGre friction adaptive compensating friction can be good to eliminate joint friction on the influence of mechanical arm system in theory, through the simulation experiment is compared with that of PID control, using adaptive coulomb friction compensation and using adaptive LuGre friction compensation method to the influence of the mechanical arm, verify the use of LuGre adaptive friction compensation method is practical.
(4) With Visual C++, MATLAB, UG software etc. completed the development of grinding mechanical arm simulation system, realized the automation of modeling, assembly and simulation, and other functions, for the design of mechanical arm provides theory basis.
Key words: LuGre Friction;The Mechanical Arm;Dynamics;Joint Friction;Friction Compensation
目 录
摘要 I
Abstract III
第1章 绪论 1
1.1课题的研究意义 1
1.2 国内外研究现状及分析 2
1.2.1 机械系统摩擦力模型的研究现状 2
1.2.2 机械手臂动力学研究现状 3
1.2.3 含摩擦环节的系统动力学研究现状 4
1.2.4 机械手臂关节摩擦补偿的研究现状 5
1.3 论文主要研究内容与结构 6
1.3.1 主要研究内容 6
1.3.2 本文的结构 8
1.4 本章小结 9
第2章 摩擦模型的研究及LuGre模型的仿真 10
2.1 摩擦的四个阶段 10
2.2 现有摩擦模型的介绍 12
2.2.1 Dahl摩擦模型 13
2.2.2 Bliman-Sorine摩擦模型 14
2.2.3 鬃毛摩擦模型 15
2.2.4 Karnopp摩擦模型 15
2.2.5 Stribeck摩擦模型 16
2.2.6 LuGre摩擦模型 16
2.3 LuGre摩擦模型..
