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Dynamic Modeling and Analysis of Flexible-Joint Robots with Clearance.
Jing Wang1, Shisheng Zhou1,2, Jimei Wu1,2
1School of Mechanical and Precision Instrument Engineering, Xi'an University of Technology, Xi'an 710048, China.
Sensors (Basel, Switzerland)
|July 13, 2024
Summary
Investigating robotic systems, this study found that flexible joints and clearance negatively impact dynamics. While flexible joints reduce response amplitudes from clearance, they introduce system lag, affecting overall robotic performance.
Area of Science:
- Robotics and Control Systems
- Mechanical Engineering
- Dynamic Systems Analysis
Background:
- Robotic systems often incorporate joints with inherent flexibility and clearance, which can significantly influence their dynamic behavior.
- Understanding these effects is crucial for designing accurate robot models and achieving precise control.
Purpose of the Study:
- To investigate the coupled effects of flexible joints and clearance on the dynamic performance of robotic systems.
- To develop an accurate robot model that accounts for joint flexibility and clearance characteristics.
Main Methods:
- Numerical analysis was employed to study the coupling effects.
- Nonlinear spring-damping and Coulomb models characterized joint clearance.
- Equivalent spring theory formulated the flexible joint model.
- Newton-Euler method derived the robot's dynamic equations.
Main Results:
- The coupling of flexible joints and clearance negatively impacts system dynamic performance.
- Flexible joints were found to weaken the amplitude of dynamic responses caused by clearance.
- A notable lag in system response was observed due to the influence of flexible joints.
Conclusions:
- The study provides a theoretical foundation for developing precise control techniques in robotics.
- Accurate modeling of joint flexibility and clearance is essential for predicting and improving robot dynamics.
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