Research on the inertia matching of the Stewart parallel manipulator
- 作者：Zhu-Feng Shao ; Xiaoqiang Tang ; tang-xq@mail.tsinghua.edu.cn ; Xu Chen ; Li-Ping Wang
- 关键词：Inertia matching ; Inverse dynamics ; Parallel mechanism ; Virtual work
- 刊名：Robotics and Computer-Integrated Manufacturing
- 出版年：2012
- 期刊代码：107_07365845
- 类别：cp
- 出版时间：December, 2012
- 卷：28
- 期：6
- 页码：649-659
- 文件大小：1392 K
摘要
With the development of the parallel manipulator, inertia matching as an essential factor to realize good potentials of the parallel manipulator is taken serious gradually. However, neither definite inertia index nor inertia matching method has been proposed so far. In this paper, the above issues are discussed by taking the Stewart parallel manipulator as a study object. Firstly, adopting limb Jacobian matrices, the concise algebraic expression of the joint-space inertia matrix of the Stewart parallel manipulator is deduced, based on the dynamic modeling. Next, on the basis of the coupling analysis of the joint-space inertia matrix, the inertia index of the parallel manipulator, the Joint-Reflected Inertia, is proposed. Then, the practical inertia matching principles of the Stewart parallel manipulator are concluded on the basis of simulations, considering multiple factors, such as mechanical resonance frequency, acceleration torque and dynamic performance. Finally, the available range of the motor inertia is deduced, and the inertia matching of the Stewart parallel manipulator is finished as the case study. The inertia index and inertia matching method suggested in this paper can be further used in other parallel manipulators for dynamic analysis and motion system design.