Inertia matching analysis of a 5-DOF hybrid optical machining manipulator

Abstract

Inertia matching means the ratio of the mechanical load inertia is converted to each actuator shaft to motor inertia, which is guaranteed within a reasonable range. At present, inertia matching is widely applied to tandem manipulators and CNC machine tools. However, the researches on the inertia matching of large load inertia optical machining manipulators have not been paid sufficient attention. We took the 5-DOF hybrid optical machining manipulator as the research object, established inverse dynamics model based on virtual work principle, and expressed the algebraic relationship between the joint-reflected inertia (JRI) coefficient and the ratio of load inertia. We also determined the inertia matching range of the machining manipulator by analyzing the mechanical system’s resonance frequency, energy matching efficiency and other factors qualitatively and quantitatively, as well as combining the load inertia ratio with dynamic precision characteristics. Finally, according to the derivation results, we analyzed the inertia matching rules of the 5-DOF hybrid optical machining manipulator with different structural parameters in certain machining tasks. In addition, the JRI coefficient and inertia matching principle proposed in this paper can be widely applied to other machining manipulators’ selection of driving equipment under different machining targets, and can also be used to evaluate the selection results.