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计量学报  2015, Vol. 36 Issue (3): 279-283    DOI: 10.3969/j.issn.1000-1158.2015.03.12
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基于残余动量的两连杆柔性臂驱动器故障检测
邵丹璐,王斌锐,金英连
中国计量学院机电工程学院, 浙江 杭州 310018
Based on the Residual Momentum of Driver Fault Detection for Two-link Flexible Manipulator
SHAO Dan-lu,WANG Bin-rui,JIN Ying-lian
College of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou, Zhejiang 310018, China
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摘要 综合考虑柔性臂质量与末端负载质量,采用Largrange方程和假设模态法,建立两连杆柔性臂动力学方程。基于动量导数,设计了残余动量算子。利用Matlab/Simulink中的弹性铰链搭建了柔性臂仿真平台;对驱动器无故障、单个故障及多个故障进行了仿真,对比分析了刚性臂和柔性臂相应残余动量的变化曲线。结果表明,残余动量适用于柔性臂;驱动器无故障时,残余动量近似为0;有故障时,残余动量变化曲线能反应出故障时间内驱动器力矩应有的大小和趋势,且对直接驱动连杆的残余动量影响最大。
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邵丹璐
王斌锐
金英连
关键词 计量学残余动量假设模态法柔性臂仿真    
Abstract:For two-linkflexible manipulators in the vertical plane, the deadweight of arms and the weight of end loads are comprehensively considered, the dynamics model is established based on the lagrange equations and assumed modes method. And based on the derivative of momentum, residual momentum operatoris designed, and the influence of flexibility deformation on the rotational angle in the calculation of residual momentum is taken into account. Using flexible hinges, the simulation platform is set up in Matlab/Simulink. Aiming at simulation of manipulators swing under the drives are trouble-free, drives have a single fault and drives have multiple faults, then give the change curves of corresponding residual momentum respectively. The results show that  the residual momentum operator model established could be applied to rigid arms and flexible arms. When drives are trouble-free,the residual momentum is approximate to 0. When drives have faults, the size and trend of residual momentum reflect the size and trend of input torque when there is no fault approximately.The driver fault mostly affects the link directly driven by the driver with fault.
Key wordsMetrology    Residual momentum    Assumed modes method    Flexible manipulators    Simulation
    
基金资助:国家自然科学基金(50905170); 科技部质检公益项目(201210076)
作者简介: 邵丹璐(1987-),女,浙江台州人,中国计量学院在读硕士研究生,主要研究方向为仿生机器人的柔性碰撞检测。shaodanlu2010@163.com
引用本文:   
邵丹璐,王斌锐,金英连. 基于残余动量的两连杆柔性臂驱动器故障检测[J]. 计量学报, 2015, 36(3): 279-283.
SHAO Dan-lu,WANG Bin-rui,JIN Ying-lian. Based on the Residual Momentum of Driver Fault Detection for Two-link Flexible Manipulator. Acta Metrologica Sinica, 2015, 36(3): 279-283.
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