五自由度冗余驱动并联机构性能分析与力/位混合控制研究
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摘要
并联机构与串联机构在应用范围上是互补关系。相比而言，并联机构具有刚度大、精度高、承载力强等优点，但其工作空间较小、作业空间中存在奇异位形、末端灵活性较差；奇异位形附近性能大幅下降、不可控、刚度较差、承载能力降低、运动精度下降等缺点制约了并联机构的实用化和商业化。冗余驱动方法成为目前并联机构研究领域的新热点，引入了冗余驱动后，可消除或减少奇异位形，扩大其有效工作空间，增加结构刚度，优化驱动器之间的负载分配，均衡并联机构的内力，消除铰链间隙和提高运动精度，使其在速度、刚度、精度、承载能力上达到实用化水平。
本文提出一种新型的6-PUS/UPU冗余驱动并联机构，针对该机构的相关问题进行深入研究，主要研究内容如下：
分析了6-PUS/UPU冗余驱动并联机构的自由度，确定了该机构的主要参数，建立了其运动学模型，并对其工作空间进行了分析。
在对中间约束分支进行详细分析的基础上，建立了6-PUS/UPU冗余驱动并联机构的力平衡方程；利用驱动力范数最小解方法对冗余动力进行优化，求解出冗余驱动分支的驱动力；为冗余驱动改善其它分支驱动力提供了理论依据；基于凯恩法建立了动力学模型。
分析了6-PUS/UPU机构的运动学及动力学，同时对冗余驱动并联机构的控制进行了研究，提出在运动不受限/受限的情况下，冗余驱动的运动控制、力/位混合控制、力/位同步控制、回零策略等。利用ADAMS软件建立了该机构的虚拟样机，并借助MATLAB中建立了其驱动模型，从而实现了两者的联合仿真，且对比分析了仿真结果与理论计算结果，验证了模型的准确性。
对6-PUS/UPU机构的需求进行分析，提出一种开放式的SOA/MVC控制系统架构，并基于该架构对6-PUS/UPU控制系统各层进行设计，实现和部署了该控制系统。
对该冗余驱动并联机构进行了包括控制系统PID参数整定实验、标定实验、控制策略验证实验等一系列实验研究，结果表明冗余驱动并联结构运行平稳，可满足复杂任务的需求，且验证了冗余驱动分支可提高了动平台的定位精度和动力学性能。
本文的理论和实验研究工作为冗余驱动并联机构的深入研究和工程应用奠定了基础，同时也对其它类型并联机构的理论研究和应用实验研究具有很好的借鉴意义。同时对复杂曲面精密加工、航天器对接等国民经济和国防工业的发展具有重要的理论意义与实用价值。
Parallel mechanisms (PMs) and serial mechanisms form a complementaryrelationship in practical application. Compared with serial mechanisms, PMs performbetter in terms of rigidity, accuracy and carrying capacity, etc． However, itspracticalization and commercialization are restricted for small workspace, singularconfigurations existed in workspace, less flexibility of end-effector and great performancedegradation, uncontrollability, poor rigidity, low carrying capacity, decreased movementaccuracy near the singular configurations. As a new hot topic in the field of PMs,redundant actuation could reduce or eliminate the singular configurations, enlargeeffective workspace, improve structural rigidity, optimize load distribution betweenactuations, balance internal forces of PMs, eliminate the hinge gap and improve themovement precision to reach the practical level in velocity, rigidity, accuracy and carryingcapacity.
The dissertation puts forward a novel6-PUS/UPU redundantly actuated PM andresearches the relevant issues in-depth aimed at the PM. The main contributions are asfollows:
Firstly, the degree of freedom(DOF) and main parameters of6-PUS/UPUredundantly actuated PM are determined, and its kinematics model is established.Meanwhile, its work space is analyzed.
Secondly, based on the detailed analysis of the intermediate constrained limb, forceequilibrium equation of the6-PUS/UPU redundantly actuated PM is established. Inaddition, the driving force of redundant actuation limb is created by using norm minimumto optimize redundant driving force, which provides theoretical basis to improve themechanical performance of other driving limbs. Moreover, the dynamics model isestablished by Kane.
Thirdly, on the basis of the kinematics and dynamics analysis, the control system ofthe redundantly actuated PM is studied. And the motion control, force/position hybridcontrol, force/position synchronization control and zero-returning strategy are developed in condition of the movement unrestricted/restricted. Moreover, the virtual prototype ofthe PM is built by ADAMS software and the driving model by MATLAB software tocomplete the co-simulation. Besides, the simulation and the theoretical calculations areanalyzed comparatively and verify mutual model accuracy.
Fourthly, based on analyzing6-PUS/UPU demand, the open SOA(Service-OrientedArchitecture)/MVC(Model View Controller) control system architecture is proposed.Moreover, the control system of6-PUS/UPU PM is designed and implemented based onthe framework.
Finally, a series of experimental investigations for the redundantly actuated PM areconducted, including PID parameter tuning, calibration, control strategy verification, etc.The experimental results show that the redundantly actuated PM operates smoothly andmeet the needs of complex tasks. What’s more, it also verifies that the redundant drivinglimb improves the positioning accuracy and dynamic performance of the moving platform.
The theoretical and experimental researches of the dissertation lay the foundation offurther study and engineering applications of redundantly actuated PMs, and also offer agood reference for theoretical and experimental studies of other types of PMs. At the sametime, this work will be complicated surface precision machining, spacecraft docking thenational economy and national defense industrial development has important theoreticalsignificance and practical value.
本文提出一种新型的6-PUS/UPU冗余驱动并联机构，针对该机构的相关问题进行深入研究，主要研究内容如下：
分析了6-PUS/UPU冗余驱动并联机构的自由度，确定了该机构的主要参数，建立了其运动学模型，并对其工作空间进行了分析。
在对中间约束分支进行详细分析的基础上，建立了6-PUS/UPU冗余驱动并联机构的力平衡方程；利用驱动力范数最小解方法对冗余动力进行优化，求解出冗余驱动分支的驱动力；为冗余驱动改善其它分支驱动力提供了理论依据；基于凯恩法建立了动力学模型。
分析了6-PUS/UPU机构的运动学及动力学，同时对冗余驱动并联机构的控制进行了研究，提出在运动不受限/受限的情况下，冗余驱动的运动控制、力/位混合控制、力/位同步控制、回零策略等。利用ADAMS软件建立了该机构的虚拟样机，并借助MATLAB中建立了其驱动模型，从而实现了两者的联合仿真，且对比分析了仿真结果与理论计算结果，验证了模型的准确性。
对6-PUS/UPU机构的需求进行分析，提出一种开放式的SOA/MVC控制系统架构，并基于该架构对6-PUS/UPU控制系统各层进行设计，实现和部署了该控制系统。
对该冗余驱动并联机构进行了包括控制系统PID参数整定实验、标定实验、控制策略验证实验等一系列实验研究，结果表明冗余驱动并联结构运行平稳，可满足复杂任务的需求，且验证了冗余驱动分支可提高了动平台的定位精度和动力学性能。
本文的理论和实验研究工作为冗余驱动并联机构的深入研究和工程应用奠定了基础，同时也对其它类型并联机构的理论研究和应用实验研究具有很好的借鉴意义。同时对复杂曲面精密加工、航天器对接等国民经济和国防工业的发展具有重要的理论意义与实用价值。
Parallel mechanisms (PMs) and serial mechanisms form a complementaryrelationship in practical application. Compared with serial mechanisms, PMs performbetter in terms of rigidity, accuracy and carrying capacity, etc． However, itspracticalization and commercialization are restricted for small workspace, singularconfigurations existed in workspace, less flexibility of end-effector and great performancedegradation, uncontrollability, poor rigidity, low carrying capacity, decreased movementaccuracy near the singular configurations. As a new hot topic in the field of PMs,redundant actuation could reduce or eliminate the singular configurations, enlargeeffective workspace, improve structural rigidity, optimize load distribution betweenactuations, balance internal forces of PMs, eliminate the hinge gap and improve themovement precision to reach the practical level in velocity, rigidity, accuracy and carryingcapacity.
The dissertation puts forward a novel6-PUS/UPU redundantly actuated PM andresearches the relevant issues in-depth aimed at the PM. The main contributions are asfollows:
Firstly, the degree of freedom(DOF) and main parameters of6-PUS/UPUredundantly actuated PM are determined, and its kinematics model is established.Meanwhile, its work space is analyzed.
Secondly, based on the detailed analysis of the intermediate constrained limb, forceequilibrium equation of the6-PUS/UPU redundantly actuated PM is established. Inaddition, the driving force of redundant actuation limb is created by using norm minimumto optimize redundant driving force, which provides theoretical basis to improve themechanical performance of other driving limbs. Moreover, the dynamics model isestablished by Kane.
Thirdly, on the basis of the kinematics and dynamics analysis, the control system ofthe redundantly actuated PM is studied. And the motion control, force/position hybridcontrol, force/position synchronization control and zero-returning strategy are developed in condition of the movement unrestricted/restricted. Moreover, the virtual prototype ofthe PM is built by ADAMS software and the driving model by MATLAB software tocomplete the co-simulation. Besides, the simulation and the theoretical calculations areanalyzed comparatively and verify mutual model accuracy.
Fourthly, based on analyzing6-PUS/UPU demand, the open SOA(Service-OrientedArchitecture)/MVC(Model View Controller) control system architecture is proposed.Moreover, the control system of6-PUS/UPU PM is designed and implemented based onthe framework.
Finally, a series of experimental investigations for the redundantly actuated PM areconducted, including PID parameter tuning, calibration, control strategy verification, etc.The experimental results show that the redundantly actuated PM operates smoothly andmeet the needs of complex tasks. What’s more, it also verifies that the redundant drivinglimb improves the positioning accuracy and dynamic performance of the moving platform.
The theoretical and experimental researches of the dissertation lay the foundation offurther study and engineering applications of redundantly actuated PMs, and also offer agood reference for theoretical and experimental studies of other types of PMs. At the sametime, this work will be complicated surface precision machining, spacecraft docking thenational economy and national defense industrial development has important theoreticalsignificance and practical value.
引文
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