协作式焊接机器人的永磁基座恢复力模型研究
Collaborative Welding Robot Base Vibration Model
徐建秀 1毕强 1郭旺 1张腾腾 1吴振坤 1王晶1
作者信息
摘要
协作式焊接机器人在复杂工况下移动作业时，地面不平或自身运动产生的竖向振动会严重影响其焊接精度与稳定性。为解决此问题，本文提出一种集成于协作式焊接机器人基座的永磁基座，并深入研究其恢复力模型。该装置利用永磁体间的斥力与支撑弹簧的拉力并联，实现了工作点附近的准零刚度，从而有效抑制竖向振动。首先，阐述了减振缸的结构设计与工作原理。其次，基于电磁学理论，推导了永磁体气隙磁密与斥力的计算公式，并结合弹簧力学，建立了完整的恢复力本构模型。本研究为提升协作式焊接机器人在动态作业中的稳定性提供了解决方案和理论依据。Abstract
When collaborative welding robots move and operate in complex working conditions, uneven ground or vertical vibrations generated by their own motion can seriously affect their welding accuracy and stability. To address this issue, this paper proposes a permanent magnet base integrated into the base of a collaborative welding robot and conducts in-depth research on its restoring force model. This device utilizes the repulsion between permanent magnets and the tension of supporting springs in parallel to achieve quasi zero stiffness near the working point, effectively suppressing vertical vibration. Firstly, the structural design and working principle of the vibration reduction cylinder were explained. Secondly, based on electromagnetic theory, the calculation formulas for the magnetic density and repulsion of permanent magnet air gaps were derived, and combined with spring mechanics, a complete constitutive model for restoring force was established. This study provides a solution and theoretical basis for improving the stability of collaborative welding robots in dynamic operations. 关键词
焊接技术与工程/协作式焊接机器人/恢复力模型/永磁基座Key words
welding technology and engineering/collaborative welding robot/restoring force model/permanent magnet base引用本文复制引用
徐建秀,毕强,郭旺,张腾腾,吴振坤,王晶.协作式焊接机器人的永磁基座恢复力模型研究[EB/OL].(2025-11-11)[2025-11-12].http://www.paper.edu.cn/releasepaper/content/202511-12.学科分类
电工基础理论/自动化技术、自动化技术设备/机械设计、机械制图/机械零件、传动装置/电工材料
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