考虑关节摩擦的5-PSS/UPU并联机构动力学建模及耦合特性分析
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摘要
为了将并联机构应用于航天器的海面回收平台等领域,提出一种可以实现三移动二转动的新型五自由度并联机构—5-PSS/UPU并联机构作为柔性自适应动态平衡装置,并对该并联机构进行了耦合特性分析。首先,利用矢量法得到了机构运动学的正反解。其次,在考虑关节摩擦效应的情况下,采用牛顿-欧拉法建立了5-PSS/UPU并联机构的动力学模型,并对机构的动力学模型进行了数值仿真验证,结果表明考虑关节摩擦和未考虑关节摩擦时,各移动副的驱动力最大误差分别为:1.62%、0.48%、3.85%、1.21%、5.13%。然后,基于动力学模型,进行动力学耦合特性分析,并给出了惯量耦合特性评价指标。最后,在该并联机构的工作空间内,研究了耦合评价指标随机构运动状况的变化规律。研究结果表明,通过合理规划运动轨迹可以在一定程度上减少动力学耦合特性对并联机构动态性能所产生的影响。
In order to apply the parallel mechanism to the sea level recovery platform of spacecraft, a new five-degree-of-freedom parallel mechanism called 5-PSS/UPU parallel mechanism, which can realize three-shift and two-rotation, is proposed as a flexible adaptive dynamic balancing device. Due to the multi-close-loop structure of parallel mechanism, there is a serious inertia coupling between the driving branches, which will cause difficulties in the control of the parallel mechanism and affect the dynamic performance of the mechanism. Thus it is significant to study and evaluate the inertia coupling property of the parallel mechanism.Firstly, the positive and negative solutions of the mechanism are deducted by vector motion. Secondly, The dynamics model of5-PSS/UPU parallel mechanism is established by Newton-Euler method under the condition of joints friction effect. The numerical simulation of the mechanism dynamic model was carried out, which shows that the max errors of each driving forces were 1.62%,0.48%, 3.85%, 1.21%, 5.13%. Then, based on dynamic model, analysis coupling characteristic and obtain the inertia coupling evaluation index in the different poses of this parallel mechanism workspace. The result shows that, to some extent, optimization the reasonable motion trajectory can reduce the influence of dynamic coupling characteristics on the dynamics performance of the parallel mechanism.
In order to apply the parallel mechanism to the sea level recovery platform of spacecraft, a new five-degree-of-freedom parallel mechanism called 5-PSS/UPU parallel mechanism, which can realize three-shift and two-rotation, is proposed as a flexible adaptive dynamic balancing device. Due to the multi-close-loop structure of parallel mechanism, there is a serious inertia coupling between the driving branches, which will cause difficulties in the control of the parallel mechanism and affect the dynamic performance of the mechanism. Thus it is significant to study and evaluate the inertia coupling property of the parallel mechanism.Firstly, the positive and negative solutions of the mechanism are deducted by vector motion. Secondly, The dynamics model of5-PSS/UPU parallel mechanism is established by Newton-Euler method under the condition of joints friction effect. The numerical simulation of the mechanism dynamic model was carried out, which shows that the max errors of each driving forces were 1.62%,0.48%, 3.85%, 1.21%, 5.13%. Then, based on dynamic model, analysis coupling characteristic and obtain the inertia coupling evaluation index in the different poses of this parallel mechanism workspace. The result shows that, to some extent, optimization the reasonable motion trajectory can reduce the influence of dynamic coupling characteristics on the dynamics performance of the parallel mechanism.
引文
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[18]山显雷.多重扰动下2(3HUS+S)并联仿生髋关节试验机动态性能分析及控制策略研究[D].徐州:中国矿业大学,2017.SHAN Xianlei.Research on dynamic performance and control strategy of a 2(3HUS+S)parallel hip joint simulator with multiple disturbances[D].Xuzhou:China University of Mining and Technology,2017.
[2]王唱,赵铁石,赵延治,等.基于QR分解的少自由度并联机构运动学及刚度分析[J].机械工程学报,2015,51(23):28-35.WANG Chang,ZHAO Tieshi,ZHAO Yanzhi,et al.Kinematic and stiffness analysis of lower-mobility parallel mechanisms based on QR decomposition[J].Journal of Mechanical Engineering,2015,51(23):28-35.
[3]LIU X J,LI J,ZHOU Y.Kinematic optimal design of a2-degree-of-freedom 3-parallelogram planar parallel manipulator[J].Mechanism&Machine Theory,2015,87:1-17.
[4]陈子明,刘晓檬,张扬,等.对称两转一移3-UPU并联机构的动力学分析[J].机械工程学报,2017,53(21):46-53.CHEN Ziming,LIU Xiaomeng,ZHANG Yang,et al.Dynamics analysis of a symmetrical 2R1T 3-UPU parallel mechanism[J].Journal of Mechanical Engineering,2017,53(21):46-53.
[5]FU J,GAO F,CHEN W,et al.Kinematic accuracy research of a novel six-degree-of-freedom parallel robot with three legs[J].Mechanism and Machine Theory,2016,102:86-102.
[6]BENNEHAR M,CHEMORI A,PIERROT F.A new revised desired compensation adaptive control for enhanced tracking:Application to RA-PKMs[J].Advanced Robotics,2016,30(17-18):1199-1214.
[7]牛雪梅,高国琴,刘辛军,等.新型驱动冗余并联机构动力学建模及简化分析[J].机械工程学报,2014,50(19):41-49.NIU Xuemei,GAO Guoqin,LIU Xinjun,et al.Dynamic formulation and simplified model of a novel 3-DOFparallel mechanism with actuation redundancy[J].Journal of Mechanical Engineering,2014,50(19):41-49.
[8]WU J,WANG J,WANG L,et al.Dynamics and control of a planar 3-DOF parallel manipulator with actuation redundancy[J].Mechanism&Machine Theory,2009,44(4):835-849.
[9]WANG L,WU J,WANG J.Dynamic formulation of a planar 3-DOF parallel manipulator with actuation redundancy[J].Robotics and Computer Integrated Manufacturing,2010,26(1):67-73.
[10]KALANI H,REZAEI A,AKBARZADEH A.Improved general solution for the dynamic modeling of Gough-Stewart platform based on principle of virtual work[J].Nonlinear Dynamics,2016,83(4):2393-2418.
[11]张建政,刘伟,高峰.6-PSS并联机器人动力学模型的牛顿-欧拉方法[J].机械设计与研究,2007,23(3):54-57.ZHANG Jianzheng,LIU Wei,GAO Feng.ANewton-Euler formulation for the inverse dynamics of the6-PSS parallel mechanism[J].Machine Design and Research,2007,23(3):54-57.
[12]山显雷,程刚.考虑关节摩擦的3SPS+1PS并联机构显式动力学建模研究[J].机械工程学报,2017,53(1):28-35.SHAN Xianlei,CHENG Gang.Explicit dynamics modeling of a 3SPS+1PS parallel manipulator with joint friction[J].Journal of Mechanical Engineering,2017,53(1):28-35.
[13]ZHANG X,ZHANG X,CHEN Z.Dynamic analysis of a3-RRR parallel mechanism with multiple clearance joints[J].Mechanism&Machine Theory,2014,78(78):105-115.
[14]SHAO Z F,TANG X,CHEN X,et al.Research on the inertia matching of the Stewart parallel manipulator[J].Robotics and Computer Integrated Manufacturing,2012,28(6):649-659.
[15]LIU Z,TANG X,SHAO Z,et al.Dimensional optimization of the Stewart platform based on inertia decoupling characteristic[J].Robotica,2016,34(5):1151-1167.
[16]王冬,吴军,王立平,等.3-PRS并联机器人惯量耦合特性研究[J].力学学报,2016,48(4):804-812.WANG Dong,WU Jun,WANG Liping,et al.Research on the.inertia coupling property of a 3-PRS parallel robot[J].Chinese Journal of Theoretical and Applied Mechanics,2016,48(4):804-812.
[17]山显雷,程刚.高速运动下并联机器人主动支链的动力学耦合特性[J].机器人,2017,39(5):603-607.SHAN Xielei,CHENG Gang.Dynamic coupling characteristic of active branches of Parallel Manipulator with high speed motion[J].Robot,2017,39(5):603-607.
[18]山显雷.多重扰动下2(3HUS+S)并联仿生髋关节试验机动态性能分析及控制策略研究[D].徐州:中国矿业大学,2017.SHAN Xianlei.Research on dynamic performance and control strategy of a 2(3HUS+S)parallel hip joint simulator with multiple disturbances[D].Xuzhou:China University of Mining and Technology,2017.