Three-degree-of-freedom spherical motor friction parameter identification experiment device and method

Abstract

The invention discloses a three-degree-of-freedom spherical motor friction parameter identification experiment device and method. The device comprises a device mounting base, a device mounting frame, a semi-annular connecting rod mounting rack, a semi-annular connecting rod, a horizontal driving sensing assembly mounting rack, a horizontal driving sensing assembly, a vertical driving sensing assembly mounting rack, a vertical driving sensing assembly and an output shaft linkage assembly, wherein the semi-annular connecting rod and the semi-annular connecting rod mounting frame are adopted, abstract horizontal axis motion of a spherical motor is materialized, the motion is converted into measurable axial motion through a transmission mechanism, and identification of friction characterization parameters in the direction becomes possible; the horizontal driving sensing assembly and the vertical driving sensing assembly are adopted, and a mode that a stepping motor is matched with a planetary reducer to drag a three-degree-of-freedom spherical motor to move is adopted, so that unstable factors when the three-degree-of-freedom spherical motor autonomously controls movement are effectively avoided, the spherical motor can operate at a stable speed, the reliability of an experimental measurement result is high, and the identification accuracy of the friction characterization parameters is high.

Description

Technical field[0001]The present invention relates to the technical field of three-free spherical motor measurement, and more particularly to a three-degree-free spherical motor friction parameter identification experimental device and method.Background technique[0002]With the rapid development of industrial manufacturing and the sharp rise in human cost, the transformation and upgrading of traditional labor-intensive manufacturing is imminent. In the tide of transformation, it is important role that can achieve intelligent equipment such as robots, robotic arms such as spatial multi-freedom. In an actuator design of industry and intelligent robots, achieving multi-freedom motors typically rely on multiple single-freedom motors and complex transmission, resulting in shortcomings such as redundancy and reliability of actuator structures. Therefore, research scholars at home and abroad proposes a spherical motor that enables three degree-freedom motion, which has the advantages of sim...

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Problems solved by technology

[0006] Technical problems to be solved by the present invention: 1. Design an experimental device suitable for friction parameter identification of three-degree-of-freedom spherical motors, which supports three-dimensional space motion of three-degree-of-freedom spherical motors; 2. The three-degree-of-freedom spherical motors friction The parameter identification experimental device can make the three-degree-of-freedom spherical motor run in a stable condition, which is helpful for the identification experiment; 3. The friction parameter identification experimental device can not only identify the maximum static friction force, but also is suitable for complex friction models.

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