MODELING AND EXPERIMENTAL IDENTIFICATION OF FRICTION NONLINEARITY IN A BALL SCREW MECHANICAL TRANSMISSION TYPE IN A GANTRY ROBOT
Angelo Fernando Fiori1; Leonardo Maraschin Bortolon1; Rozimerli Raquel Milbeier Richter1; Antonio Carlos Valdiero1; Luiz Antonio Rasia1
1 Universidade Regional do Noroeste do Estado do Rio Grande do Sul - UNIJUÍ
doi:10.20906/CPS/COB-2015-0741
Resumo
This work objective present the methodology for the experimental identification of friction characteristics, and develop and experimentally validate the mathematical model of a joint in a Gantry robot with transmission by ball screw and electric drive gearbox for alternating current and inverter frequency. The dynamic modeling of mechanical mechanisms can provide important information for design aspects and robot construction and the subsequent development of control strategies. However the mechanical systems are affected by nonlinearities as friction. The friction displays nonlinear characteristics that are not always considered in the modeling and development of controllers, which causes errors in the development and validation of mathematical models and consequently difficulties in accurate control of robots. For the identification and experimental validation, was used a prototype of a prismatic joint of a Gantry robot . The main contributions of this paper are the proposal of a methodology for the experimental identification of nonlinear of friction characteristics and the static friction map which shows where the predominant features in the prototype of a robotic joint type ball screw, and the model validation mathematical considering friction.
Palavras-chave: Mathematical Modelling; Friction Nonlinearity; Gantry Robot; Experimental Identification