建模焊枪脐带缆动态影响，提升轻型机器人的运动精度
Dynamic Modeling of a Welding Torch Umbilical and Its Impact on Robot Dynamics
- 将脐带缆视为柔性串联刚体链，用约束多体动力学建模
- 通过速度子空间投影消除拉格朗日乘子，实现高效计算
- 可精准计算脐带对机器人反作用力，适合协作机器人应用
工业制造中广泛使用机器人焊接，焊枪常通过外部脐带缆连接电源。随着轻量化与协作机器人普及，脐带缆的动态影响显著改变机器人运动与驱动力。本文提出一种受约束的多体动力学模型，将脐带缆表示为由被动关节连接的刚体串，关节具有弹性与阻尼特性。通过完整运动学约束施加远端锚点的预定运动，将系统运动方程投影至容许速度子空间，实现无需拉格朗日乘子的高效公式化。明确恢复了脐带对机器人施加的反作用力。平面案例研究验证了该方法的有效性。
原文摘要 · Abstract (English)
Robotic welding is widely used in industrial manufacturing, where the welding torch is often connected to the generator through an external umbilical. With the increasing deployment of lightweight and collaborative robots, the dynamic influence of this umbilical can significantly affect the robot motion and the actuation forces. This paper proposes a constrained multibody dynamic model of a welding umbilical, represented as a serial chain of rigid bodies interconnected by passive joints with elastic and dissipative effects. Prescribed motions at the distal anchor point are introduced through holonomic kinematic constraints. The equations of motion are reduced by projecting the dynamics onto the subspace of admissible velocities, yielding an efficient formulation free of Lagrange multipliers. The reaction wrench exerted by the umbilical on the robot is explicitly recovered. A planar case study illustrates the approach.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。