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| Coupling dynamic modeling of a flexible manipulator driven by servo joint and test recognition |
| ZHOU Youpeng1, LOU Junqiang1, CHEN Tehuan1, MA Jianqiang1, WEI Yanding2 |
1. Zhejiang Provincial Key Lab of Part Rolling Technology, College of Mechanical Engineering and Mechanics, Ningbo University, Ningbo 315211, China;
2. China Key Laboratory of Advanced Manufacturing Technology of Zhejiang Province, School of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China |
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Abstract For the system of a flexible manipulator driven by servo joint, considering its electromechanical, rigid and flexible coupling characteristics，The dynamic model is carried out theoretically. The driving and friction characteristics of the servo joint，which consists of a DC servo motor, a harmonic gear reducer and a servo controller is proposed. By linear fitting the experimental data of the forward and reverse rotation of the motor, the coulomb friction constant and viscosity friction coefficient are obtained. Then, two transform function model, are proposed. The input and output variables for one model are the control voltage of the servo controller and the motor potion measured by the encoder. And for the other model, are the control voltage of the servo controller and the strain output measured by the strain gauges. Using the Pseudo-random binary sequence(PRBS) as the input signal, the two transform function models of the system are identified by experimental identification. Experimental results show the two identified models are in good agreement with the dynamic response of the experimental setup, both for the PRBS and sinusoidal excitation signals. Accordingly, the coupling dynamic models of the proposed system are obtained.
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Received: 11 December 2017
Published: 28 April 2019
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