柔性平面3-RRR并联机器人耦合动力学及模态特性研究
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摘要
为了有效抑制柔性平面3-RRR并联机器人柔性杆件的弹性变形,针对现有动力学模型复杂,不易求解,控制器设计困难等问题。考虑刚柔耦合效应及两端集中转动惯量对柔性中间连杆的作用,确定柔性中间连杆的边界条件为两端铰支并计算其振型函数。考虑柔性中间连杆的主要振动模态及系统惯性力和耦合力的影响,在保证精度的基础上建立系统简单实用的动力学模型。将所建动力学模型分析结果与有限元分析软件(ANSYS)及模态试验结果对比,结果表明,所建立动力学模型能够有效反映柔性平面3-RRR并联机器人的主要振动模态,并能充分反映惯性力和耦合力对柔性中间连杆动力学模型及模态特性的影响,同时此模型由于动态参数较少,方便依托动力学模型为基础的控制方案实施。
This work aims at the problem of model solving and subsequent control difficulties caused by complexity of the dynamics model of a flexible planar 3-RRR parallel robot and effectively suppressing the elastic deformation of the flexible planar 3-RRR parallel manipulator. Firstly,considering the rigid-flexible coupling between the rigid drive link and the flexible intermediate link and the influence of the momentary inertia at both ends on the flexible intermediate link,the boundary condition of the flexible intermediate link was determined to be pinned at both ends and its mode function was calculated. Then,considering the main vibration modes of the flexible intermediate link and the influence of the inertia force and the coupling force of the system,the high efficiency dynamic model of the system was established on the basis of guaranteeing the model control precision. Finally,the results of the dynamic model analysis were compared with the finite element analysis software( ANSYS) and the modal test results. The results show that the dynamic model established in this work can effectively reflect the main vibration modes of the 3-RRR parallel robot and can fully reflect the influence of inertial force and coupling force on the dynamic model and modal characteristics of flexible intermediate link. At the same time,this model has fewer dynamic parameters,which is convenient to implement control program.
This work aims at the problem of model solving and subsequent control difficulties caused by complexity of the dynamics model of a flexible planar 3-RRR parallel robot and effectively suppressing the elastic deformation of the flexible planar 3-RRR parallel manipulator. Firstly,considering the rigid-flexible coupling between the rigid drive link and the flexible intermediate link and the influence of the momentary inertia at both ends on the flexible intermediate link,the boundary condition of the flexible intermediate link was determined to be pinned at both ends and its mode function was calculated. Then,considering the main vibration modes of the flexible intermediate link and the influence of the inertia force and the coupling force of the system,the high efficiency dynamic model of the system was established on the basis of guaranteeing the model control precision. Finally,the results of the dynamic model analysis were compared with the finite element analysis software( ANSYS) and the modal test results. The results show that the dynamic model established in this work can effectively reflect the main vibration modes of the 3-RRR parallel robot and can fully reflect the influence of inertial force and coupling force on the dynamic model and modal characteristics of flexible intermediate link. At the same time,this model has fewer dynamic parameters,which is convenient to implement control program.
引文
[1]梅莱.并联机器人[M].北京:机械工业出版社,2014.
[2]陈航.三自由度并联机构正解及试验平台控制方法研究[D].武汉:华中科技大学,2005.
[3]张清华.平面3-RRR柔性并联机器人机构弹性动力学建模与振动主动控制研究[D].广州:华南理工大学,2013.
[4]丛爽,尚伟伟.并联机器人:建模、控制优化与应用[M].北京:电子工业出版社,2010.
[5]黄真,孔令富,方跃法.并联机器人机构学理论及控制[M].北京:机械工业出版社,1997.
[6]国家自然科学基金委员会工程与材料科学部.机械工程学科发展战略报告(2011-2020)[M].北京:科学出版社,2010.
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[8]刘玉飞,李威,杨雪锋,等.直线定位平台扰动激励下柔性操作臂的耦合振动特性研究[J].振动与冲击,2015,34(15):1-6.LIU Yufei,LI Wei,YANG Xuefeng,et al.Coupled vibration characteristics of flexible manipulators of a linear positioning platform under disturbance excitation[J].Journal of Vibration and Shock,2015,34(15):1-6.
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[10]张宪民,刘宏昭,曹惟庆.柔性机构弹性振动的主动控制[J].机械工程学报,1996,32(1):9-16.ZHANG Xianmin,LIU Hongzhao,CAO Weiqing.The active control of flexible elastic vibration mechanism[J].Journal of Mechanical Engineering,1996,32(1):9-16.
[11]LIU Yufei,LI Wei,YANG Xuefeng,et al.Vibration characteristics analysis of a moving flexible manipulator[C].The 4th International Conference on Dynamics,Vibration and Control.Shanghai,2014.
[12]郑坤明,张秋菊.含关节间隙的Delta机器人弹性动力学与振动特性分析[J].农业工程学报,2015,31(14):39-48.ZHENG Kunming,ZHANG Qiuju.Elastic dynamics and analysis of vibration characteristics of Delta robot with joint clearance[J].Transactions of the Chinese Society of Agricultural Engineering,2015,31(14):39-48.
[13]宋健,张铁中,徐丽明,等.果蔬采摘机器人研究进展与展望[J].农业机械学报,2006,37(5):158-162.SONG Jian,ZHANG Tiezhong,XU Liming,et al.Research actuality and prospect of picking robot for fruits andvegetables[J].Transactions of the Chinese Society for Agricultural Machinery,2006,37(5):158-162.
[14]李秦川,胡挺,武传宇,等.果蔬采摘机器人末端执行器研究综述[J].农业机械学报,2008,39(3):175-179.LI Qinchuan,HU Ting,WU Chuanyu,et al.Review of endeffectors in fruit and vegetable harvesting robot[J].Transactions of the Chinese Society for Agricultural Machinery,2008,39(3):175-179.
[15]赵伟,陈伟,李兵.基于3-RPC并联机构的三维振动隔离系统的动力学建模与控制研究[J].振动与冲击,2017,36(7):62-69.ZHAO Wei,CHEN Wei,LI Bing.Dynamic modelling and control for a three-dimensional vibration isolation system with a 3-RPC parallel mechanism[J].Journal of Vibration and Shock,2017,36(7):62-69.
[16]徐晗.平面3-RRR并联定位平台及控制系统设计[D].徐州:中国矿业大学,2015.
[17]YU Yueqing,DU Zhaocai,YANG Jianxin,et al.An Experimental study on the dynamics of a 3-RRR flexible parallel robot[J].IEEE Transaction on Robotics,2011,27(5):992-997.
[18]ZHANG Qinghua,ZHANG Xianmin.Dynamic analysis of planar 3-RRR flexible parallel robots under uniform temperature change[J].Journal of Vibration&Control,2013,21(1):81-104.
[19]ZHANG Xuchong,ZHANG Xianmin,CHEN Zhong.Dynamic analysis of a 3-RRR parallel mechanism with multiple clearance joints[J].Mechanism&Machine Theory,2014,78:105-115.
[20]SHARIFNIA M,AKBARZADEH A.Dynamics and vibration of a 3-PSP parallel robot with flexible moving platform[J].Journal of Vibration&Control,2014,7(3):323-334.
[21]ZHANG Xuping.Dynamic modeling and experimental validation of a 3-RRR parallel manipulator with flexible intermediate links[J].Journal of Intelligent and Robotic Systems,2007,50(4):323-340.
[22]WANG Xiaoyun.Experimental modal analysis of flexible linkages in a smart parallel platform[C]∥Proceeding of the7th Cansmart Meeting-International Workshop on Smart Materials and Structures,Montreal,Canada,2004,1:37-46.
[2]陈航.三自由度并联机构正解及试验平台控制方法研究[D].武汉:华中科技大学,2005.
[3]张清华.平面3-RRR柔性并联机器人机构弹性动力学建模与振动主动控制研究[D].广州:华南理工大学,2013.
[4]丛爽,尚伟伟.并联机器人:建模、控制优化与应用[M].北京:电子工业出版社,2010.
[5]黄真,孔令富,方跃法.并联机器人机构学理论及控制[M].北京:机械工业出版社,1997.
[6]国家自然科学基金委员会工程与材料科学部.机械工程学科发展战略报告(2011-2020)[M].北京:科学出版社,2010.
[7]雷源忠.我国机械工程研究进展与展望[J].机械工程学报,2009,45(5):1-11.LEI Yuanzhong.Mechanical engineering research progress and prospect of China[J].Journal of Mechanical Engineering,2009,45(5):1-11.
[8]刘玉飞,李威,杨雪锋,等.直线定位平台扰动激励下柔性操作臂的耦合振动特性研究[J].振动与冲击,2015,34(15):1-6.LIU Yufei,LI Wei,YANG Xuefeng,et al.Coupled vibration characteristics of flexible manipulators of a linear positioning platform under disturbance excitation[J].Journal of Vibration and Shock,2015,34(15):1-6.
[9]DWIVEDY S K,EBERHARD P.Dynamic analysis of flexible manipulators,a literature review[J].Mechanism and Machine Theory,2006,41(7):749-777.
[10]张宪民,刘宏昭,曹惟庆.柔性机构弹性振动的主动控制[J].机械工程学报,1996,32(1):9-16.ZHANG Xianmin,LIU Hongzhao,CAO Weiqing.The active control of flexible elastic vibration mechanism[J].Journal of Mechanical Engineering,1996,32(1):9-16.
[11]LIU Yufei,LI Wei,YANG Xuefeng,et al.Vibration characteristics analysis of a moving flexible manipulator[C].The 4th International Conference on Dynamics,Vibration and Control.Shanghai,2014.
[12]郑坤明,张秋菊.含关节间隙的Delta机器人弹性动力学与振动特性分析[J].农业工程学报,2015,31(14):39-48.ZHENG Kunming,ZHANG Qiuju.Elastic dynamics and analysis of vibration characteristics of Delta robot with joint clearance[J].Transactions of the Chinese Society of Agricultural Engineering,2015,31(14):39-48.
[13]宋健,张铁中,徐丽明,等.果蔬采摘机器人研究进展与展望[J].农业机械学报,2006,37(5):158-162.SONG Jian,ZHANG Tiezhong,XU Liming,et al.Research actuality and prospect of picking robot for fruits andvegetables[J].Transactions of the Chinese Society for Agricultural Machinery,2006,37(5):158-162.
[14]李秦川,胡挺,武传宇,等.果蔬采摘机器人末端执行器研究综述[J].农业机械学报,2008,39(3):175-179.LI Qinchuan,HU Ting,WU Chuanyu,et al.Review of endeffectors in fruit and vegetable harvesting robot[J].Transactions of the Chinese Society for Agricultural Machinery,2008,39(3):175-179.
[15]赵伟,陈伟,李兵.基于3-RPC并联机构的三维振动隔离系统的动力学建模与控制研究[J].振动与冲击,2017,36(7):62-69.ZHAO Wei,CHEN Wei,LI Bing.Dynamic modelling and control for a three-dimensional vibration isolation system with a 3-RPC parallel mechanism[J].Journal of Vibration and Shock,2017,36(7):62-69.
[16]徐晗.平面3-RRR并联定位平台及控制系统设计[D].徐州:中国矿业大学,2015.
[17]YU Yueqing,DU Zhaocai,YANG Jianxin,et al.An Experimental study on the dynamics of a 3-RRR flexible parallel robot[J].IEEE Transaction on Robotics,2011,27(5):992-997.
[18]ZHANG Qinghua,ZHANG Xianmin.Dynamic analysis of planar 3-RRR flexible parallel robots under uniform temperature change[J].Journal of Vibration&Control,2013,21(1):81-104.
[19]ZHANG Xuchong,ZHANG Xianmin,CHEN Zhong.Dynamic analysis of a 3-RRR parallel mechanism with multiple clearance joints[J].Mechanism&Machine Theory,2014,78:105-115.
[20]SHARIFNIA M,AKBARZADEH A.Dynamics and vibration of a 3-PSP parallel robot with flexible moving platform[J].Journal of Vibration&Control,2014,7(3):323-334.
[21]ZHANG Xuping.Dynamic modeling and experimental validation of a 3-RRR parallel manipulator with flexible intermediate links[J].Journal of Intelligent and Robotic Systems,2007,50(4):323-340.
[22]WANG Xiaoyun.Experimental modal analysis of flexible linkages in a smart parallel platform[C]∥Proceeding of the7th Cansmart Meeting-International Workshop on Smart Materials and Structures,Montreal,Canada,2004,1:37-46.