6-DOF串并联机器人的动力学及控制研究
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摘要
目前,对于6-DOF并联机器人的研究已成为热门领域。然而,绝大多数的6-DOF并联机器人的构型都来源于Stewart机构,鲜见其它构型的并联机器人或串并联机器人。本文所研究的是6-DOF串并联机器人,主要用于重型锻件生产自动化领域。此机构不仅具有输出精度高、机构刚性好、承载能力强等并联机构的特点,也具备工作空间大等优点。
本论文主要针对6-DOF串并联机器人的运动学分析、动力学分析、基于动力学的控制系统设计、电液伺服驱动系统设计、电液位置伺服控制等5个内容进行研究。
6-DOF串并联机器人的运动学分析兼具并联机器人和串联机器人的优点和难点,本文在求位置反解时采用了新的算法——逐次搜索法;利用一、二阶影响系数矩阵分析速度和加速度。在关节空间里对关节的运动轨迹进行规划,求得各个关节的运动轨迹。
基于Kane动力学理论,求出15个杆件的偏速度和偏角速度,推导了动力学方程,并给出了动力学基本方程系数解析形式,利用Matlab软件进行计算机动态数值仿真。分析仿真曲线,评价动力学性能,并据此更新关节运动轨迹。
基于动力学方程的控制方法很多,在控制精度、快速性和稳定性方面各有特点,控制成本和实现的难易程度也有所不同。本文采用了三种方法:计算力矩法、鲁棒控制及变结构滑模控制,对6-DOF串并联机器人进行了精确控制。通过Simulink仿真实例,比较三种方法的优劣和应用条件。
推导电液伺服驱动系统的动力学模型,即分别求取电磁伺服阀、单级电液伺服阀、阀控液压缸动力机构、负载活塞受力模型的数学模型等,最终获得三阶开环传递函数的数学模型。
采用PID校正和变结构鲁棒自适应控制对电液伺服驱动系统进行伺服控制,此系统具有良好的快速性和鲁棒性。
前面各专题采取的技术路线为基于纯理论数学推导,以Matlab/Simulink数值仿真为辅助,最终得出描述性能曲线。
At present, the research on the 6-DOF parallel robot has become a hot area. However, the vast majority of 6-DOF parallel robot configurations are derived from the Stewart institution, rare in other configurations of parallel robots, or series-parallel robots. In this paper, the study of 6-DOF series-parallel robot is mainly used in heavy-duty forgings automated production area. This body not only has the characteristics of high precise output, institutional rigidity, strong load capacity, but also has capability of a large working space.
In this paper, the key research on 6-DOF series-parallel robot included five topics: kinematics analysis, dynamics analysis, control system design based on the dynamics, electro-hydraulic control system design and electro- hydraulic positon serve control.
Kinematics analysis of the 6-DOF Series-Parallel robot has advantages and difficulties of both parallel robots and serial robots, a new approach is used to solve inverse positon in this paper, that is successive search method. Velocity and acceleration are analysised with frist and second-order effect coefficient matrix. At last, each joint trajectory is planed in joint space.
Kinetic equation was derived based on KANE dynamics theory, and the basic equations of the kinetic coefficients were analyzed. Meanwhile, the robot dynamic state was simulated with Matlab software. Simulation curve was analyzed, dynamic performance was evaluated, and the joint trajectory was updated.
The various control ways have characteristic in controlling the precision, speed and stability of their own characteristics, control costs and achieve the degree of difficulty vary based on kinetic equation. Three methods that are computed torque method, robust control and variable structure sliding mode control were used in the precise control of the series-parallel 6-DOF robot. These methods were compared with the Simulink simulation example in application conditions.
Dynamic model of electro-hydraulic servo drive sysrem is derivated, which including electromafnetic servo valve, Single-stage electro-hydraulic servo valve, vavle-controlled hydraulic cylinders power sector and load model.
Third-order single-input, single-output mathematical model was derived. Electro-hydraulic servo position control system is conreolled through PID and variable structure robust adaptive control system, and this system has good speed and robustness.
The performance curve was described supported by Matlab / Similunk numerical simulation and the pure mathematical reasoning.
本论文主要针对6-DOF串并联机器人的运动学分析、动力学分析、基于动力学的控制系统设计、电液伺服驱动系统设计、电液位置伺服控制等5个内容进行研究。
6-DOF串并联机器人的运动学分析兼具并联机器人和串联机器人的优点和难点,本文在求位置反解时采用了新的算法——逐次搜索法;利用一、二阶影响系数矩阵分析速度和加速度。在关节空间里对关节的运动轨迹进行规划,求得各个关节的运动轨迹。
基于Kane动力学理论,求出15个杆件的偏速度和偏角速度,推导了动力学方程,并给出了动力学基本方程系数解析形式,利用Matlab软件进行计算机动态数值仿真。分析仿真曲线,评价动力学性能,并据此更新关节运动轨迹。
基于动力学方程的控制方法很多,在控制精度、快速性和稳定性方面各有特点,控制成本和实现的难易程度也有所不同。本文采用了三种方法:计算力矩法、鲁棒控制及变结构滑模控制,对6-DOF串并联机器人进行了精确控制。通过Simulink仿真实例,比较三种方法的优劣和应用条件。
推导电液伺服驱动系统的动力学模型,即分别求取电磁伺服阀、单级电液伺服阀、阀控液压缸动力机构、负载活塞受力模型的数学模型等,最终获得三阶开环传递函数的数学模型。
采用PID校正和变结构鲁棒自适应控制对电液伺服驱动系统进行伺服控制,此系统具有良好的快速性和鲁棒性。
前面各专题采取的技术路线为基于纯理论数学推导,以Matlab/Simulink数值仿真为辅助,最终得出描述性能曲线。
At present, the research on the 6-DOF parallel robot has become a hot area. However, the vast majority of 6-DOF parallel robot configurations are derived from the Stewart institution, rare in other configurations of parallel robots, or series-parallel robots. In this paper, the study of 6-DOF series-parallel robot is mainly used in heavy-duty forgings automated production area. This body not only has the characteristics of high precise output, institutional rigidity, strong load capacity, but also has capability of a large working space.
In this paper, the key research on 6-DOF series-parallel robot included five topics: kinematics analysis, dynamics analysis, control system design based on the dynamics, electro-hydraulic control system design and electro- hydraulic positon serve control.
Kinematics analysis of the 6-DOF Series-Parallel robot has advantages and difficulties of both parallel robots and serial robots, a new approach is used to solve inverse positon in this paper, that is successive search method. Velocity and acceleration are analysised with frist and second-order effect coefficient matrix. At last, each joint trajectory is planed in joint space.
Kinetic equation was derived based on KANE dynamics theory, and the basic equations of the kinetic coefficients were analyzed. Meanwhile, the robot dynamic state was simulated with Matlab software. Simulation curve was analyzed, dynamic performance was evaluated, and the joint trajectory was updated.
The various control ways have characteristic in controlling the precision, speed and stability of their own characteristics, control costs and achieve the degree of difficulty vary based on kinetic equation. Three methods that are computed torque method, robust control and variable structure sliding mode control were used in the precise control of the series-parallel 6-DOF robot. These methods were compared with the Simulink simulation example in application conditions.
Dynamic model of electro-hydraulic servo drive sysrem is derivated, which including electromafnetic servo valve, Single-stage electro-hydraulic servo valve, vavle-controlled hydraulic cylinders power sector and load model.
Third-order single-input, single-output mathematical model was derived. Electro-hydraulic servo position control system is conreolled through PID and variable structure robust adaptive control system, and this system has good speed and robustness.
The performance curve was described supported by Matlab / Similunk numerical simulation and the pure mathematical reasoning.
引文
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