A Stepwise Dynamic Parameter Identification Method for the Parallel Feed System of a Hybrid Robot

To establish an accurate dynamic model of hybrid robots for metal cutting, a stepwise dynamic parameter identification method is proposed for the parallel feed system. The established rigid body dynamic model utilizes an interval method to analyze the impact of matrix elements and dynamic parameters on the driving torque. The dynamic model is then streamlined through optimization of the threshold. Following this, the directional property of friction force, which is determined by the direction of motion speed, is utilized to design a reciprocating motion trajectory with constant speed. A superposition method is then employed to separate the friction torque from the driving torque. The effort involves the gradual separate identification of friction parameters and inertial parameters. The experimental results of the parallel feed system of the TriMule-800 hybrid robot demonstrate that the driving torque, as predicted by the identified dynamic model, aligns with the measured torque. Furthermore, the proposed dynamic parameter identification method has been validated for its accuracy and reliability.