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bodyBgs[2] = "/images/banner/s3.jpg"; bodyBgs[3] = "/images/banner/s4.jpg"; bodyBgs[4] = "/images/banner/s5.jpg"; var randomBgIndex = Math.round( Math.random() * 4 ); //輸出隨機的背景圖 document.write('<style>.banner{background:url(' + bodyBgs[randomBgIndex] + ') no-repeat 50% bottom}</style>'); //]]> </script> <section> <div class="banner" style="height:160px;"> </div> </section> <!-- 面包屑導航開始 --> <div class="container "> <nav class="sub_menu"> <ol class="breadcrumb"><span class="glyphicon glyphicon-list"></span> <li><a href="/">網站首頁</a></li> <li><a title="數控文章" href="/bethel/news">數控文章</a></li> </ol> </nav> </div> <!--/sub_menu--><!-- 面包屑導航結束 --> <!-- 頁面標題開始 --> <div class="title"> <h3><a>Copley驅動器運動參數讀取實驗<small></small></a></h3> </div> <!-- 頁面標題結束 --> <hr class="featurette-divider"> <!-- 中部開始 --> <div class="container"> <!-- 正文 --> <div class="lead" id="print"> <p> <span style="font-family: 宋體; font-size: 11pt; letter-spacing: 0pt; line-height: 11pt; text-indent: 0pt;"> </span></p> <div class="Section0"> <p class="NewStyle25" style="margin-left: 0pt; text-indent: 0pt; line-height: 11pt;"><!--[if !supportLists]--><span style="font-family: 'MS Gothic'; letter-spacing: 0pt; font-weight: bold; font-size: 10pt;"> </span><!--[endif]--><span class="16" style="font-family: 'MS Gothic'; letter-spacing: 0pt; font-weight: bold; font-size: 10pt;">4.6 </span><span class="16" style="font-family: 'MS Gothic'; letter-spacing: 0pt; font-weight: bold; font-size: 10pt;">Copley</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">驅動器運動參數讀取實驗</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle26" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">由于</span><span class="18" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Delta</span><span class="20" style="font-family: 宋體; letter-spacing: 2pt; font-size: 11pt;">機器人使用的直驅力矩電機精度較高，其旋轉編碼器的精度高達 </span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">405000</span><span class="18" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">c</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">〇</span><span class="18" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt; vertical-align: sub;">U</span><span class="18" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">nt</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">, </span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">—般的伺服驅動器難以達到如此高的控制精度，</span><span class="18" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Copley</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">驅動器是使用成熟 的一類高性能驅動器，其交流伺服驅動器體積緊湊、輸出功率大并滿足所需的高精度控 制要求，所以選擇了 </span><span class="18" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Copley</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">交流伺服驅動器對高精度直驅力矩電機進行</span><span class="18" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">PID</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">控制。</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle26" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">為了對三種方法軌跡規劃程序結果的實際應用價值進行驗證，從驅動器中讀取了驅 動電機的實際運行參數，并與仿真結果進行對比。實驗中，物體釋放</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">（</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">時間為</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">0.6</span><span class="18" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">S</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">)</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">處 </span></p> </div> <p><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><br clear="all" style="page-break-before:always;mso-break-type:section-break" /> </span></p> <div class="Section1"> <p class="NewStyle26" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">沒有時間間隔，末端抓取物體質量約為1千克（實際抓取物體質量大于1千克），運行 速度60次/分。其中，紅色實線為仿真計算得到的擬合曲線，綠色實線為驅動器指令曲 線，黑色虛線為驅動電機實際運行曲線，紫紅色虛線為沒有末端物體質量時驅動電機實 際力矩曲線。</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle27" style="margin-left: 0pt; text-indent: 0pt; line-height: 11pt;"><span class="21" style="font-family: 宋體; letter-spacing: -1pt; font-size: 11pt;">4.6.1</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">關節空間軌跡規劃實驗參數讀取</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle26" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">圖</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">4-4</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">為關節空間軌跡規劃結果對機器人進行實際控制得到的位移-速度實驗曲線, 由圖可知，左右驅動電機實際位移跟隨仿真擬合曲線，左驅動電機在物體釋放位置</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">（0.6</span><span class="18" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">S </span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">附近）出現微小的位移過沖，在返回抓取位置時，左驅動電機有微小的欠位移；右驅動 電機在物體釋放位置出現微小的欠位移，在返回抓取位置時，右驅動電機出現微小的位 移過沖。左右驅動器速度指令曲線跟隨仿真擬合曲線并在其附近抖動，在返回抓取位置 時，左驅動電機速度指令曲線不為零，右驅動電機速度指令曲線出現過沖；左右驅動電 機實際速度曲線跟隨指令速度曲線，實際速度峰值大于仿真擬合曲線速度峰值，在返回 抓取位置時，右驅動電機實際速度曲線出現過沖。</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle26" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">圖</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">4-5</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">為關節空間軌跡規劃結果對機器人進行實際控制得到的驅動電機力矩實驗曲 線，選取仿真擬合曲線力矩峰值為</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">80</span><span class="18" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">W</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">.</span><span class="18" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">m</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">。</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">由圖可知，左右驅動電機實際力矩曲線與 指令力矩曲線重合，實際力矩曲線與擬合力矩曲線趨勢大體相同，在物體抓取階段</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">（0 </span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">至</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">0.1</span><span class="18" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">S</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">附近</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">），</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">左右實際保持力矩均小于仿真擬合力矩峰值，在運行階段，左右實際力 矩峰值較仿真擬合力矩曲線峰值分別高出大約</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">30</span><span class="18" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">A</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">^</span><span class="18" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">m</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">、</span><span class="18" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">lOA</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">^.</span><span class="18" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">m</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">，</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">在返回抓取位置時， 左右實際力矩曲線均有不同程度的抖動，左右實際力矩峰值較未施加末端質量時的實際 力矩峰值高出大約60</span><span class="18" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">A</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">^</span><span class="18" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">m</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">、40</span><span class="18" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">A</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">^</span><span class="18" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">m</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">,</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">可見末端執行器抓取物體質量對機器人驅動電機 的實際力矩曲線影響很大。</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle27" style="margin-left: 0pt; text-indent: 0pt; line-height: 11pt;"><span class="21" style="font-family: 宋體; letter-spacing: -1pt; font-size: 11pt;">4.6.2</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">工作空間軌跡規劃實驗參數讀取</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle26" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">圖</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">4-6</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">為工作空間軌跡規劃結果對機器人進行實際控制得到的位移-速度實驗曲線, 由圖可知，左右驅動電機實際位移跟隨仿真擬合曲線，部分位移曲線段跟隨性較差，左 驅動電機在物體釋放位置</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">（0.6</span><span class="18" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">S</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">附近）出現微小的位移過沖；右驅動電機在物體釋放位 置出現微小的欠位移，在返回抓取位置時，右驅動電機出現微小的位移過沖。左右驅動 器速度指令曲線與仿真擬合速度曲線有較大差距，左驅動電機速度指令曲線峰值大小與 </span><span class="20" style="font-family: 宋體; letter-spacing: 2pt; font-size: 11pt;">擬合曲線速度峰值大小相差大約并且左驅動電機速度指令曲線與仿真擬合曲 </span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">線之間的跟隨性較差，在返回抓取位置時，左驅動電機速度指令曲線不為零；右驅動電 </span><span class="20" style="font-family: 宋體; letter-spacing: 2pt; font-size: 11pt;">機速度指令曲線峰值大小與擬合曲線速度峰值大小相差大約并且右驅動電 </span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">機速度指令曲線有較大的抖動，與仿真擬合曲線之間的跟隨性較差，在返回抓取位置時, 右驅動電機速度指令曲線出現過沖。左右驅動電機實際速度曲線跟隨指令速度曲線，由于驅動電機性能及其負載限制，左驅動電機實際速度曲線峰值大小與指令速度曲線峰值 </span><span class="20" style="font-family: 宋體; letter-spacing: 2pt; font-size: 11pt;">大小相差較大約為在返回抓取位置時，左驅動電機實際速度曲線不為零，右 </span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">驅動電機實際速度曲線出現過沖，左右驅動電機的實際速度曲線峰值大小均大于擬合曲 線速度峰值大小。</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="MsoNormal"><span style="font-family: MingLiU; letter-spacing: 0pt; font-size: 12pt;">圖</span><span style="font-family: MingLiU; letter-spacing: 0pt; font-size: 12pt;">4-7</span><span style="font-family: MingLiU; letter-spacing: 0pt; font-size: 12pt;">為工作空間軌跡規劃結果對機器人進行實際控制得到的力矩實驗曲線，選取 仿真擬合曲線力矩峰值為</span><span class="18" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">lOOW</span><span style="font-family: MingLiU; letter-spacing: 0pt; font-size: 12pt;">.</span><span class="18" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">m</span><span style="font-family: MingLiU; letter-spacing: 0pt; font-size: 12pt;">。</span><span style="font-family: MingLiU; letter-spacing: 0pt; font-size: 12pt;">由圖可知，在物體抓取階段</span><span style="font-family: MingLiU; letter-spacing: 0pt; font-size: 12pt;">（0</span><span style="font-family: MingLiU; letter-spacing: 0pt; font-size: 12pt;">至</span><span style="font-family: MingLiU; letter-spacing: 0pt; font-size: 12pt;">0.1</span><span class="18" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">S</span><span class="23" style="font-family: 宋體; letter-spacing: -1pt; font-size: 11pt;">附近），左 </span><span style="font-family: MingLiU; letter-spacing: 0pt; font-size: 12pt;">右實際保持力矩均小于仿真擬合保持力矩。在</span><span style="font-family: MingLiU; letter-spacing: 0pt; font-size: 12pt;">0.6</span><span class="18" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">S</span><span style="font-family: MingLiU; letter-spacing: 0pt; font-size: 12pt;">附近，由于驅動電機峰值力矩限制， 左驅動電機實際力矩曲線峰值不能達到指令力矩曲線峰值，并且，實際力矩曲線維持在 驅動電機力矩峰值，其余擬合曲線段，實際力矩曲線與指令力矩曲線重合，左實際力矩 曲線與擬合力矩曲線趨勢大體相同，但峰值力矩大小相差較大約為</span><span style="font-family: MingLiU; letter-spacing: 0pt; font-size: 12pt;">60</span><span class="18" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">W</span><span style="font-family: MingLiU; letter-spacing: 0pt; font-size: 12pt;">*</span><span class="18" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">m</span><span class="20" style="font-family: 宋體; letter-spacing: 2pt; font-size: 11pt;">;</span><span class="20" style="font-family: 宋體; letter-spacing: 2pt; font-size: 11pt;">右驅動電 </span><span style="font-family: MingLiU; letter-spacing: 0pt; font-size: 12pt;">機實際力矩曲線與指令力矩曲線重合，在</span><span style="font-family: MingLiU; letter-spacing: 0pt; font-size: 12pt;">0.6</span><span class="18" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">S</span><span style="font-family: MingLiU; letter-spacing: 0pt; font-size: 12pt;">至</span><span style="font-family: MingLiU; letter-spacing: 0pt; font-size: 12pt;">0.8</span><span class="18" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">S</span><span style="font-family: MingLiU; letter-spacing: 0pt; font-size: 12pt;">附近，實際力矩曲線抖動較大， 幾乎為整個運行周期的波峰和波谷，在此階段，實際力矩曲線性能較差，可能會引起機 器人手臂的自激振蕩</span><span class="24" style="font-family: Gulim; letter-spacing: 0pt; font-size: 18pt;">，</span><span style="font-family: MingLiU; letter-spacing: 0pt; font-size: 12pt;">右實際力矩曲線與擬合力矩曲線趨勢有一定差距，并且</span><span class="24" style="font-family: Gulim; letter-spacing: 0pt; font-size: 18pt;">，</span><span style="font-family: MingLiU; letter-spacing: 0pt; font-size: 12pt;">峰值力 矩大小相差較大約為45</span><span class="18" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">W</span><span style="font-family: MingLiU; letter-spacing: 0pt; font-size: 12pt;">.</span><span class="18" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">m</span><span style="font-family: MingLiU; letter-spacing: 0pt; font-size: 12pt;">。</span><span style="font-family: MingLiU; letter-spacing: 0pt; font-size: 12pt;">在返回抓取位置時，左右實際力矩曲線均有不同程度的抖動，左右買際力矩峰值大小較未施加末端質量時的買際力矩峰值大小尚出大約30 </span><span class="15" style="font-family: 'Times New Roman'; letter-spacing: 0pt; font-weight: bold; font-style: italic; font-size: 11pt;">N • m</span><span class="15" style="font-family: 'Times New Roman'; letter-spacing: 0pt; font-weight: bold; font-style: italic; font-size: 11pt;">、</span><span style="font-family: MingLiU; letter-spacing: 0pt; font-size: 1pt;"><o:p></o:p></span></p> <p class="NewStyle26" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">圖</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">4-8</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">為混合空間軌跡規劃結果對機器人進行實際控制得到的位移-速度實驗曲線, 由圖可知，左右驅動電機實際位移曲線跟隨仿真擬合曲線，并且左右驅動電機的位移曲 線跟隨性均較好，左驅動電機在物體釋放位置</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">（0.6</span><span class="18" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">S</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">附近）出現微小的位移過沖，在返 回抓取位置時，左驅動電機有微小的欠位移；右驅動電機在物體釋放位置沒有出現欠位 移或位移過沖，在返回抓取位置時，右驅動電機有微小的位移過沖。左右驅動器速度指 令曲線跟隨仿真擬合曲線并稍有抖動，并且左右驅動電機的速度曲線跟隨性均較好，速 度指令曲線峰值大小與仿真擬合曲線速度峰值大小接近，在返回抓取位置時，左驅動電 機速度指令曲線不為零，右驅動電機速度指令曲線出現過沖；左右驅動電機實際速度曲 線跟隨指令速度曲線，實際速度峰值稍大于仿真擬合曲線速度峰值，并且，實際速度曲 線抖動較小，在返回抓取位置時，左右驅動電機實際速度曲線均出現不同程度的過沖。</span></p> </div> <p><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><br clear="all" style="page-break-before:always;mso-break-type:section-break" /> </span></p> <p class="NewStyle26" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">圖</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">4-9</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">為混合空間軌跡規劃結果對機器人進行實際控制得到的力矩實驗曲線，選取 仿真擬合曲線力矩峰值為</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">90</span><span class="18" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">W</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">.</span><span class="18" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">m</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">。</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">由圖可知，左右驅動電機實際力矩曲線與指令力矩 曲線重合，實際力矩曲線與擬合力矩曲線趨勢大體相同，在物體抓取階段</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">（0</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">至</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">0.1</span><span class="18" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">S</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">附 近</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">），</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">左右實際保持力矩均小于仿真擬合力矩峰值，在運行階段，左實際力矩峰值較仿真 </span><span class="20" style="font-family: 宋體; letter-spacing: 2pt; font-size: 11pt;">擬合力矩曲線峰值高約右實際力矩峰值與仿真擬合力矩曲線峰值大體相同， </span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">在返回抓取位置時，左右實際力矩曲線均有不同程度的抖動，左右實際力矩峰值較未施 加末端質量時的實際力矩峰值高出大約</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">40</span><span class="18" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">W</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">.</span><span class="18" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">m</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">、30</span><span class="18" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">W</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">.</span><span class="18" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">m</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">。</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle26" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">總結，關節空間和混合空間軌跡規劃結果對機器人進行實際控制，得到的實際位移 -速度曲線跟隨對應的仿真擬合曲線效果較好，而工作空間軌跡規劃結果對機器人進行 實際控制，得到的實際位移-速度曲線跟隨仿真擬合曲線效果相對較差，關節空間軌跡規 劃結果的實際控制角速度曲線峰值稍大于混合空間軌跡規劃結果的實際控制角速度曲 線峰值，工作空間軌跡規劃結果的實際控制角速度峰值大于其他兩種軌跡規劃結果的實 際控制角速度峰值。</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle26" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">關節空間和混合空間軌跡規劃結果對機器人進行實際控制，得到的實際力矩曲線峰 值相近，均小于工作空間軌跡規劃結果對機器人進行實際控制得到的實際力矩曲線峰值, 因此，關節空間和混合空間的軌跡規劃方法更有利于提高機器人的實際運行速度，并且， 工作空間軌跡規劃法得到的實際控制力矩曲線峰值達到了力矩電機的實際峰值力矩，甚 至，命令力矩曲線峰值超出了力矩電機的實際峰值力矩，相對于其他兩種軌跡規劃方法， 工作空間軌跡規劃方法不利于機器人的實際控制，實際測試結果與理論研宄結果相符。</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle26" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">對三種軌跡規劃結果得到的實際力矩進行分析可知，在0到</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">0.1</span><span class="18" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">S</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">的力矩保持階段， 實測力矩均小于仿真力矩，在機器人的運行階段，實測力矩均大于仿真力矩，分析誤差 主要有以下原因：</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle26" style="margin-left: 18pt; text-indent: -18pt; line-height: 23.3pt;"><!--[if !supportLists]--><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"> </span><!--[endif]--><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">力矩曲線是根據</span><span class="18" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Copley</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">驅動器中電機驅動電流轉換得到，選取的力矩常數是該 電機的設計參數，與實際參數之間會有百分之十以內的誤差。</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle26" style="margin-left: 18pt; text-indent: -18pt; line-height: 23.3pt;"><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">⑵機器人的動力學模型是簡化的動力學模型，省略了對驅動電機動力學參數影響 較小的桿件的轉動動能。</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle26" style="margin-left: 18pt; text-indent: -18pt; line-height: 23.3pt;"><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">⑶機器人的動力學模型中，沒有考慮較為復雜的各關節之間的摩擦對所需驅動電 機動力學性能的影響。</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle26" style="margin-left: 18pt; text-indent: -18pt; line-height: 23.3pt;"><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">⑷實驗過程中，機器人末端執行器抓取物體實際質量為</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">1.075</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">千克，大于理論計 </span><span class="20" style="font-family: 宋體; letter-spacing: 2pt; font-size: 11pt;">算中的1千克。</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle26" style="margin-left: 18pt; text-indent: -18pt; line-height: 23.3pt;"><!--[if !supportLists]--><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"> </span><!--[endif]--><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">由于加工和手工裝配等方面的誤差，手臂的實際質量應大于動力學模型中使用 的質量，并且實測的下端桿件的關節軸承軸心距稍大于設計尺寸。</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle26" style="margin-left: 18pt; text-indent: -18pt; line-height: 23.3pt;"><!--[if !supportLists]--><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"> </span><!--[endif]--><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">由于手工裝配等方面的誤差，機構中兩個平行四桿機構并不能保證絕對平行， 在機器人的高速運行過程中會存在內力損耗。</span></p> <p class="NewStyle26" style="margin-left: 18pt; text-indent: -18pt; line-height: 23.3pt;"> </p> <p class="NewStyle26" style="margin-left: 18pt; text-indent: -18pt; line-height: 23.3pt;"><span style="font-size:9.0pt;font-family:宋體;mso-ascii-font-family: "Times New Roman";mso-hansi-font-family:"Times New Roman";mso-bidi-font-family: "Times New Roman";mso-font-kerning:1.0pt;mso-ansi-language:EN-US;mso-fareast-language: 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class="list-date"> <span>17</span> <p>2019-08</p> </div> <h4><a title="五面體加工中心" href="/bethel/cnc/show_2614.html" target="_blank">五面體加工中心</a></h4> <p>產品規格Product specifications項目單位V11數控系統三菱 M80B行程X軸行程(工作臺左右)mm1100Y軸行程(主軸頭上下)mm600Z軸行程(工作臺前后)mm700主軸端面~工作中心距離mm180~780主軸中心~工作臺面距離50~750旋轉工作臺工作臺…… <a href="/bethel/cnc/show_2614.html" target="_blank">[了解更多]</a></p> </div> <div class="news-list list-border list-border-w"> <div class="list-date"> <span>19</span> <p>2019-09</p> </div> <h4><a title="動梁龍門的同步控制、同步消隙、全閉環控制" href="/bethel/news/show_2506.html" target="_blank">動梁龍門的同步控制、同步消隙、全閉環控制</a></h4> <p>0 引言 動梁龍門移動式加工中心適用于航空、重機、機電、造船、發電、核電、機床、印刷、輕紡、模具制造行業半精加工和精加工，也能用于粗加工。為了防止在加工中動梁重心偏移而影響加工精度和產品質量，大森公司研制開發 16i-g 系統用于威海華東數控動梁龍門移動式鏜銑XKW2850 機… <a href="/bethel/news/show_2506.html" target="_blank">[了解更多]</a></p> </div> <div class="news-list list-border list-border-w"> <div class="list-date"> <span>19</span> <p>2019-09</p> </div> <h4><a title="定梁式CNC龍門加工中心整體結構設計" href="/bethel/news/show_2505.html" 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