Electrical-Mechanical Dynamic Modelling and Testing of a Lightweight-Link Robot Manipulator

摘要

This paper presents the electrical-mechanical dynamic modelling and testing of a lightweight-link robot manipulator.Mechanical dynamic modelling of lightweight robot manipulators has received extensive attention with the consideration of link flexibility.However few efforts have been paid to the electrical-mechanical dynamic modelling of lightweight-link manipulators which will provide the essential insights to control the motion and vibration of lightweight robot manipulators.In this work, the sub-model of an actuator (a DC servo motor) dynamics and the sub-model of vibration dynamics of a driven lightweight-link are established separately.Then the two submodels are integrated to form a comprehensive electrical-mechanical dynamic model.The proposed electricalmechanical model is applied to a single lightweight link robot manipulator.The simulations and dynamics characterization are conducted to provide insights into the control and design of lightweight link robot manipulators.A real-time testing and control system is setup, and experimental testing is performed to validate the proposed electrical-mechanical modelling and dynamic characterization analyses.