Identification of characteristic parameters of joints by substructure synthesis method - 文章详情页

作者：

Li, Ling (Li, Ling.) | Cai, Ligang (Cai, Ligang.) (学者：蔡力钢) | Guo, Tieneng (Guo, Tieneng.) | Liu, Zhifeng (Liu, Zhifeng.) (学者：刘志峰) | Zhao, Yongsheng (Zhao, Yongsheng.) (学者：赵永胜)

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摘要：

A　new　identification　method　for　joint　stiffness　and　damping　has　been　developed　by　using　the　substructure　synthesis　method　and　finite　element　method　in　this　paper.　Firstly,　the　identification　equation　of　joint　is　established　according　to　the　equilibrium　and　compatibility　conditions.　Then,　the　finite　element　models　or　lumped　parameter　models　of　substructures　are　established　and　updated,　which　will　be　used　to　replace　the　real　models　and　to　obtain　the　data　needed.　In　order　to　ensure　the　stability　of　numerical　calculation,　the　inconsistent　solution　of　the　identification　equation　is　translated　to　the　general　solution　by　the　principle　of　least　squares,　and　the　concept　of　weight　is　introduced　to　make　use　of　all　the　measured　data.　Finally,　this　method　is　applied　to　two　simulated　examples,　and　the　results　indicate　that　the　proposed　method　has　high　identification　precision.

关键词：

Frequency response Modular robots Finite element method Joints (structural components)

作者机构：

[ 1 ] [Li, Ling]College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing, 100124, China
[ 2 ] [Cai, Ligang]College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing, 100124, China
[ 3 ] [Guo, Tieneng]College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing, 100124, China
[ 4 ] [Liu, Zhifeng]College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing, 100124, China
[ 5 ] [Zhao, Yongsheng]College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing, 100124, China

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电子邮件地址：

lee_liling@163.com

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