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Friction force measurement method for electric drive robot

A measurement method and robot technology, applied in manipulators, manufacturing tools, etc., can solve problems such as time-consuming, uneconomical, and high power consumption, and achieve the effect of simple operation

Active Publication Date: 2019-11-29
KUNSHAN PANGOLIN ROBOT
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This method takes a long time, consumes a lot of power, is uneconomical, and requires the known conversion efficiency of the electric mechanism as a prerequisite

Method used

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  • Friction force measurement method for electric drive robot
  • Friction force measurement method for electric drive robot

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Experimental program
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Embodiment Construction

[0019] A method for measuring friction force of an electric drive robot, comprising the steps of:

[0020] a. An electric power meter 2 is installed on the electric-driven robot 1 with a self-weight of P, and after the drive motor 5 is connected to the controller 6, the controller 6 is then connected to the electric power meter 2, and finally the electric power meter 2 is connected to the power supply 4, and the electric power meter 2 is used to measure the output power of the power supply 4, and the controller 6 controls the electric drive robot 1 to perform uniform acceleration by controlling the drive motor 5;

[0021] b. First start and run the electric drive robot 1, adjust the controller 6 to make the electric drive robot 1 perform the first uniform acceleration motion with an acceleration of a1, record the value W1 of the electric power meter 2 and the maintenance time t1 of the first uniform acceleration motion;

[0022] c. After adding the counterweight 3 with a mass ...

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PUM

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Abstract

The invention relates to a friction force measurement method of an electric drive robot. The method comprises the steps of adopting a weight increasing and decreasing method, cooperatively solving two binary linear equations, i.e. a driving force of a drive motor is equal to a force of the electric drive robot doing uniformly accelerated motion plus frictional resistance, which are established according to a balance relation of a force, and solving to obtain a friction coefficient mu and overall electric work conversion efficiency eta. The friction force measurement method of the electric drive robot provided by the invention is simple to operate, easy to implement and low in cost.

Description

technical field [0001] The invention relates to a method for measuring friction force, in particular to a method for measuring friction force of an electric drive robot. Background technique [0002] The current method of measuring the friction coefficient of an electric-driven robot is usually to run continuously on the same ground surface for a period of time, measure the power energy consumed by it, and obtain the friction coefficient through calculation. This method takes a long time, consumes a lot of electric energy, is uneconomical, and needs to know the conversion efficiency of the electric mechanism as a prerequisite. Contents of the invention [0003] In order to overcome the above-mentioned defects, the present invention provides a friction measurement method of an electric-driven robot, which is simple to operate, easy to implement and low in cost. [0004] The technical scheme that the present invention adopts in order to solve its technical problem is: a kin...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J19/00
CPCB25J19/0095
Inventor 宋育刚余程
Owner KUNSHAN PANGOLIN ROBOT