A method for calculating the joint motion parameters of a hyperbolic manipulator using a nonlinear mixed friction model

By describing the friction characteristics of the robot arm joints through a nonlinear mixed friction model, the problem of large calculation errors in the traditional model is solved, more accurate robot arm parameter calculation is achieved, and the movement accuracy and stability of the robot arm are improved.

CN119458336BActive Publication Date: 2025-09-26BEIJING UNIV OF TECH
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Patent Information

Application Number
CN202411656721.8
Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Filing Date
2024-11-19
Publication Date
2025-09-26
Estimated Expiration
2044-11-19

AI Technical Summary

Technical Problem

The traditional robot arm joint friction model ignores the nonlinear characteristics of friction, resulting in large calculation errors and unable to meet the design requirements of high-precision robot arms.

Method used

A nonlinear mixed friction model is adopted, combined with the Gaussian friction model, Coulomb friction model, viscous friction model and Stribeck friction model. Modeling and calculation are carried out using SolidWorks and Matlab software. The joint motion range and friction parameters are limited, and a nonlinear mixed friction model is constructed to describe the friction characteristics of the robotic arm joint.

Benefits of technology

The calculation accuracy of the robot arm joint parameters is improved, the calculation error is reduced, more accurate robot arm design and control data is provided, and the movement accuracy and stability of the robot arm are improved.

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Abstract

A method for calculating the joint motion parameters of a quasi-hyperbolic manipulator using a nonlinear mixed friction model relates to the field of joint mechanics calculation in robotics. Although the traditional calculation model can describe the relationship between friction force and relative motion speed or contact surface positive pressure to a certain extent, it ignores the nonlinear characteristics of friction force, resulting in large errors in motion parameters and unable to meet the current design requirements for high-precision manipulators with the rapid development of industrial automation technology. Therefore, in order to improve the accuracy of the calculation of the joint motion parameters of the manipulator, the present invention proposes a method for calculating the joint motion parameters of a quasi-hyperbolic manipulator using a nonlinear mixed friction model. The friction model is based on the Gauss friction model and combines the Coulomb friction model, the viscous friction model and the Stribeck friction model to provide a more accurate pre-calculation method for the subsequent structural design of the manipulator, the manufacturing of rods and fuselage, and the trajectory control of the end effector.
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