摘要
为了抑制锻造车间内锻压机等设备给锻造机器人造成的残余振动,开展机器人的金属橡胶关节阻尼设计及其振动抑制性能分析。基于冲击响应理论获得锻造环境中锻压机冲击的半正弦脉冲激励;根据SPONE的线性弹簧假设及关节刚-柔耦合特性,在COMSOL平台上建立了六自由度锻造机器人的几何模型;对锻造机器人关节中金属橡胶垫片的减振阻尼特性进行分析;最后在COMSOL平台上完成了7种状态下锻造机器人的振动响应试验,并对丝径分别为0.10、0.20、0.25、0.30 mm的4种金属橡胶关节阻尼进行了残余振动抑制测试。测试结果表明:当关节4~关节6都呈0°时,极限状态4下无阻尼机器人末端最大位移为0.19 mm;而4种金属橡胶关节阻尼的机器人末端位移分别降低了85.8%、99.5%、100%和100%,且金属丝径为0.25 mm时抑振效果最好,从而验证了在锻造机器人中增加金属橡胶关节阻尼抑制残余振动的有效性。
In order to suppress the residual vibration of forging robot caused by forging press and other equipment in forging workshop,the design on metal rubber damping of robot joints and the performance analysis of vibration suppression were carried out.The half sine impulse response of the forging press in the forging environments was obtained based on the shock response theory;then according to the linear spring hypothesis of SPONE and the rigid flexible coupling characteristics of the joint,the geometric model of 6-DOF forging robot was established on the COMSOL platform;the vibration damping characteristics of the metal rubber damping material in the forging robot joints were analyzed;finally,some vibration response tests of a forging robot under seven states were carried out based on COMSOL platform,and four metal rubber joint dampers with wire diameters of 0.10,0.20,0.25 and 0.30 mm were tested for residual vibration suppression.The test results show that when the angles of joint 4-joint 6 are all 0°,the maximum end displacement of the undamped robot in limit state 4 is 0.19 mm.However,the four kinds of metal rubber joint damping have reduced the end displacement of the robot by 85.8%,99.5%,100%and 100%,and the vibration suppression effect is the best when the wire diameter is 0.25 mm,which verifies the effectiveness of adding metal rubber joint damping in forging robots to suppress residual vibration.
作者
陈卫彬
王丽丽
孙宏伟
邱贝贝
袁明新
CHEN Weibin;WANG Lili;SUN Hongwei;QIU Beibei;YUAN Mingxin(716 Research Institute of China Shipbuilding Industry Group Corporation,Lianyungang Jiangsu 222006,China;School of Metallurgy and Materials Engineering,Jiangsu University of Science and Technology,Zhangjiagang Jiangsu 215600,China;Lianyungang Jerry Automation Co.,Ltd.,Lianyungang Jiangsu 222006,China)
出处
《机床与液压》
北大核心
2022年第11期46-52,共7页
Machine Tool & Hydraulics
基金
国家重点研发计划“智能机器人”重点专项(2018YFB1309100)
江苏省科技成果转化专项资金项目(BA2019092)。
关键词
锻造机器人
冲击响应
金属橡胶阻尼
残余振动
振动抑制
Forging robot
Impact response
Metal rubber damping
Residual vibration
Vibration suppression
