https://doi.org/10.1140/epjp/s13360-024-05577-2
Regular Article
Study of electromechanical coupling dynamical characteristics of the grinding robot joint transmission system
School of Mechatronic Engineering, Jiangsu Normal University, 221116, Xuzhou, China
Received:
5
June
2024
Accepted:
19
August
2024
Published online:
29
August
2024
To avoid the impact of resonance frequency on the robot grinding accuracy and enhance the robot operational performance, the electromechanical coupling characteristics of grinding robot joint transmission system are studied. Firstly, according to the actual grinding conditions, the grinding load characteristic model is established. The distribution law of grinding load is systematically revealed. Considering the electromagnetic characteristics of PMSM and the translation vibration of gear system, the global electromechanical coupling dynamical model of the grinding robot joint transmission system is constructed suitable for variable-speed operation. Then, the potential resonance region and excitation source of the system are identified by the Campbell diagram and the modal energy of the system. On this basis, the resonance point is determined by sweep frequency analysis and time domain simulation. Additionally, a test bench is set up to verify simulation results. The test results show that the grinding robot joint transmission system has resonance risk when the speed of PMSM is close to 198 r/min. In the process of speed regulation, special attention should be paid. The research results have significant guiding significance for the optimization design of the grinding robot joint transmission system and the formulation of speed regulation scheme.
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© The Author(s), under exclusive licence to Società Italiana di Fisica and Springer-Verlag GmbH Germany, part of Springer Nature 2024. Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law.
