摘要
为研究机械手臂关节内部轴承的故障识别,使用Solid Works和ADAMS建立了机械手臂的动力学仿真模型,对机械手臂关节内部轴承进行动力学仿真,通过多次更换不同故障轴承,分析在相同转速时肩部轴承与关节内部轴承在内圈、外圈、滚动体故障时振动加速度响应的区别,得到关节内部故障轴承的振动周期。采用了Gammatone滤波器组,分别对外圈、内圈及滚动体故障冲击信号进行滤波处理,得到的仿真结果与理论计算结果具有良好的一致性,对机械手臂关节内部轴承的研究有重要意义,在一定程度上提高和完善了机器人技术水平。
In this article,in order to explore the fault identification of the mechanical arm joint’s internal bearing,the dynamic simulation model of the mechanical arm is set up by means of Solid Works and ADAMS. The vibration period of the joint internal fault bearing is worked out by replacing different fault bearings for several times,and analyzing the difference of the vibration acceleration response between the shoulder bearing and the joint internal bearing in the inner ring,outer ring and rolling body at the same speed. A Gammatone filter bank is used to filter the outer ring,inner ring and rolling body’s fault impact signals respectively. The results enjoy a high standard of consistency,which is of great significance to the research on the manipulator joint’s internal bearing. Thus,the robot-related technologies have improved and reached a new level.
作者
赵妞
袁刘凯
赵特
孙俊文
戚海玲
ZHAO Niu;YUAN Liu-kai;ZHAO Te;SUN Jun-wen;QI Hai-ling(College of Mechanical Engineering,Wanjiang University of Technology,Ma’anshan 243031;NAVECO Ltd.,Nanjing 211806;Magna PT Powertrain(Shanghai)Co.,Ltd.,Shanghai 200120)
出处
《机械设计》
CSCD
北大核心
2021年第3期66-70,共5页
Journal of Machine Design
基金
国家自然科学基金资助项目(51275315)。
关键词
关节内部轴承
动力学仿真
振动特性
ADAMS
joint internal bearing
dynamic simulation
vibration characteristic
ADAMS
