Tripod精密平台动力学分析及控制
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摘要
以直线超声电机驱动的五自由度Tripod精密平台为研究对象,对其动力学建模方法进行研究,并对控制系统进行开发。将串联机构与3-RPS并联机构分开考虑,在运动学分析的基础上,通过牛顿欧拉法对机构进行动力学建模,并利用ADAMS验证动力学建模正确性;采用支持PLC语言及C++混合编程的TwinCAT3软件开发Tripod精密平台控制系统。仿真结果表明,理想动力学模型理论分析结果与仿真结果基本一致,位置驱动模式下驱动力输出存在波动,证明了在位置环控制模式下,加入动力学前馈补偿控制的必要性,为精密运动控制奠定基础。
Taking the Tripod precision stage which has five degree of freedom actuated by liner ultrasonic motor as the researching target. The dynamic modeling of the Tripod precision stage is studied and a control system is developed. The series mechanism is considered separately from the 3-RPS parallel mechanism.Newton Euler method is used for dynamic modeling of mechanism on the basis of kinematics analysis.The correctness of the dynamic modeling is verified by ADAMS software. Tripod precision platform control system is developed by using TwinCAT3 software which supports PLC language and C + + hybrid programming. The simulation results show that theoretical analysis results of ideal dynamic model and the simulation result are coincident approximately. The driving force output is fluctuated in the position driven mode,which proves the necessity of adding dynamic feed-forward compensation control in the position loop control mode and lays the foundations of the foundation of the precision motion control.
Taking the Tripod precision stage which has five degree of freedom actuated by liner ultrasonic motor as the researching target. The dynamic modeling of the Tripod precision stage is studied and a control system is developed. The series mechanism is considered separately from the 3-RPS parallel mechanism.Newton Euler method is used for dynamic modeling of mechanism on the basis of kinematics analysis.The correctness of the dynamic modeling is verified by ADAMS software. Tripod precision platform control system is developed by using TwinCAT3 software which supports PLC language and C + + hybrid programming. The simulation results show that theoretical analysis results of ideal dynamic model and the simulation result are coincident approximately. The driving force output is fluctuated in the position driven mode,which proves the necessity of adding dynamic feed-forward compensation control in the position loop control mode and lays the foundations of the foundation of the precision motion control.
引文
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[2]Abu Hanieh A,Preumont A,Loix N. Piezoelectric Stewartplatform for general purpose active damping interface andprecision control[J]. Proceedings of European Space Mech-anisms&Tribology Symposium,2001,480:331-334.
[3]周丽平,张泉,孙志峻.直线超声电动机驱动的平面3-PRR并联平台视觉精密定位[J].机械工程学报,2014,50(19):18-23.
[4]Hunt K H. Structural kinematics of in-parallel-actuated robotarms. Trans ASME J Mech Trans Auto Des[J]. Journal ofMechanical Design,1983,105(4):705-712.
[5]郑魁敬,崔培,郭海军. 3-RPS并联机构运动与静力性分析[J].机械设计,2011,28(9):28-33.
[6]刘善增,余跃庆,侣国宁,等. 3自由度并联机器人的运动学与动力学分析[J].机械工程学报,2009,45(8):11-17.
[7] Staicu s'. Inverse Dynamics of The Spatial 3-RPS ParallelRobot[J]. Proceedings of the Romanian Academy-Series A:Mathematics,Physics,Technical Sciences,Information Sci-ence,2012,13(1):62-70.
[8]薛帮灿,郝丽娜,杨辉. 3DOF-PAM并联机器人设计与动力学建模[J].组合机床与自动化加工技术,2016(7):52-55.
[9]贾凯凯,梅江平,刘松涛,等. 4自由度并联机构刚动力学模型[J].机械工程学报,2016,52(13):10-16.
[10]李永刚,宋轶民,冯志友,等.基于牛顿欧拉法的3-RPS并联机构逆动力学分析[J].航空学报,2007,28(5):1210-1215.
[11]Lee K M,Shah D. Kinematic analysis of a three degrees offreedom in-parallel actuated manipulator[C]//IEEE Inter-national Conference on Robotics and Automation. Proceed-ings. IEEE,1987:345-350.
[12]赵晓颖,温立书,么彩莲.欧拉角参数表示下姿态的二阶运动奇异性[J].科学技术与工程,2012,12(3):634-637.
[13] Srinivasan K. Kinematic and dynamic analysis of Stewartplatform-based machine tool structures[J]. 2003,21(5):541-554.