Delta并联机械手刚体动力学模型简化方法

梅江平; 贺莹; 臧家炜; 谢胜龙; 乔正宇; 李金和

doi:10.13433/j.cnki.1003-8728.2018.0301

Delta并联机械手刚体动力学模型简化方法

doi: 10.13433/j.cnki.1003-8728.2018.0301

1.
天津大学机构理论与装备设计教育部重点实验室, 天津 300350;
2.
天津大学仁爱学院机械工程系, 天津 301636

基金项目:

国家自然科学基金项目（51475320）资助

详细信息

作者简介:
梅江平(1969-),副教授,博士生导师,博士,研究方向为机器人控制及自动化生产线,ppm@tju.edu.cn

计量
- 文章访问数: 221
- HTML全文浏览量: 42
- PDF下载量: 11
- 被引次数: 0
出版历程
- 收稿日期: 2016-12-15
- 刊出日期: 2018-03-05

Simplified Method for Rigid Body Dynamic Models of Delta Parallel Manipulator

1.
The Ministry of Education Key Laboratory of Mechanism Theory and Equipment Design, Tianjin University, Tianjin 300350, China;
2.
Department of Mechanical Engineering, Tianjin University Renai College, Tianjin 301636, China

摘要

摘要: 基于虚功原理建立了机械手的完备刚体动力学模型，并对机械手动力学模型的各组成部分（惯性力矩项、惯性力项和重力项）进行了分类；在分析从动臂的运动对机械手力矩各组成部分贡献的基础上，提出了一种基于组合分配系数的刚体动力学模型简化策略；以简化刚体动力学模型与完备刚体动力学模型逼近度为优化目标，提出一种基于运动过程力矩偏差最小的优化指标，从而确定组合分配系数；基于以上刚体动力学简化方法，从机械手尺度参数与运动轨迹参数两方面因素出发，结合机械手典型运动轨迹，采用多因素分析方法，通过仿真分析了各因素对简化刚体动力学模型准确性的影响，结果表明该刚体动力学模型简化方法针对不同机械手尺度参数与运动轨迹参数均具有较高的计算速度和精度。
- 并联机械手 /
- 简化刚体动力学模型 /
- 组合分配系数
Abstract: A complete rigid body dynamic models is established based on the virtual work principle, and the components of the dynamic models, i.e. the inertia moment term, the inertial force term and gravity term, are classified. After analyzing the slave arm movements on the contribution of the components of the manipulator torques, a simplified strategy for the rigid body dynamic models based on combinatorial mass distribution coefficients is presented; The degree of approximation between the simplified and complete models is introduced as an optimization objective, and an optimization index for minimizing the torque deviations between the two models during the motion of the manipulator is formulated in order to determine the combinatorial mass distribution coefficients; Based on the simplified method and considering the length and movement trajectory parameters of the manipulator, simulation of the parameters influence on the accuracy of the simplified models is implemented with the multi-factor analysis method, and the results show that the simplified models has higher computation speed and accuracy for different the length and movement trajectory parameters.
- delta parallel manipulator /
- simplified rigid body dynamic models /
- combinatorial mass distribution coefficient

HTML全文

参考文献(20)

[1]	梅江平,臧家炜,乔正宇,等.三自由度Delta并联机械手轨迹规划方法[J].机械工程学报,2016,52(19):9-17 Mei J P, Zang J W, Qiao Z Y, et al. Trajectory planning of 3-DOF delta parallel manipulator[J]. Journal of Mechanical Engineering, 2016,52(19):9-17(in Chinese)
[2]	Khalil W, Guegan S. Inverse and direct dynamic modeling of Gough-Stewart robots[J]. IEEE Transactions on Robotics, 2004,20(4):754-761
[3]	蔡胜利,白师贤.3-TRS型并联机器人的动力学研究[J].机械科学与技术,1996,15(1):51-56 Cai S L, Bai S X. Study on the dynamics of 3-TRS parallel manipulators[J]. Mechanical Science and Technology, 1996,15(1):51-56(in Chinese)
[4]	刘延斌,韩秀英,薛玉君,等.3-RRRT并联机器人正向动力学仿真[J].机械科学与技术,2007,26(3):369-372 Liu Y B, Han X Y, Xue Y J, et al. Forward dynamics simulation of A 3-RRRT parallel robot[J]. Mechanical Science and Technology, 2007,26(3):369-372(in Chinese)
[5]	Wu J, Wang J S, Li T M, et al. Dynamic analysis of the 2-DOF planar parallel manipulator of a heavy duty hybrid machine tool[J]. The International Journal of Advanced Manufacturing Technology, 2007,34(3-4):413-420
[6]	Lee K M, Shah D K. Dynamic analysis of a three-degrees-of-freedom in-parallel actuated manipulator[J]. IEEE Journal on Robotics and Automation, 1988,4(3):361-367
[7]	Miller K. Experimental verification of modeling of DELTA robot dynamics by direct application of Hamilton's principle[C]//Proceedings of 1995 IEEE International Conference on Robotics and Automation. Nagoya, Japan:IEEE, 1995,1:532-537
[8]	Li Y M, Xu Q S. Kinematics and inverse dynamics analysis for a general 3-PRS spatial parallel mechanism[J]. Robotica, 2005,23(2):219-229
[9]	Sokolov A, Xirouchakis P. Dynamics analysis of a 3-DOF parallel manipulator with R-P-S joint structure[J]. Mechanism and Machine Theory, 2007,42(5):541-557
[10]	Pierrot F, Benoit M, Dauchez P, et al. High speed control of a parallel robot[C]//Proceedings of IEEE Intelligent Robots and Systems, Towards A New Frontier of Applications'. Ibaraki, Japan:IEEE, 1990,2:949-954
[11]	Codourey A. Dynamic modelling and mass matrix evaluation of the DELTA parallel robot for axes decoupling control[C]//Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. Osaka, Japan:IEEE, 1996,3:1211-1218
[12]	Codourey A. Dynamic modeling of parallel robots for computed-torque control implementation[J]. The International Journal of Robotics Research, 1998,17(2):1325-1336
[13]	Choi H B, Company O, Pierrot F, et al. Design and control of a novel 4-DOFs parallel robot H4[C]//Proceedings of IEEE International Conference on Robotics and Automation. Taipei, Taiwan:IEEE, 2003,1:1185-1190
[14]	Choi H B, Konno A, Uchiyama M. Design, implementation, and performance evaluation of a 4-DOF parallel robot[J]. Robotica, 2010,28(1):107-118
[15]	Huang T, Mei J P, Li Z X, et al. A method for estimating servomotor parameters of a parallel robot for rapid pick-and-place operations[J]. Journal of Mechanical Design, 2005,127(4):596-601
[16]	Zhang L M, Mei J P, Zhao X M, et al. Dimensional synthesis of the delta robot using transmission angle constraints dimensional synthesis of the Delta robot using transmission angle constraints[J]. Robotica, 2012,30(3):343-349
[17]	刘松涛.一类2-、3-、4自由度高速并联机械手设计理论与方法研究[D].天津:天津大学,2012 Liu S T. Optimal design of 2-、3-、4-DOF High-speed parallel manipulators:theory and application[D]. Tianjin:Tianjin University, 2012(in Chinese)
[18]	张利敏.一种三平动高速并联机械手设计方法研究[D].天津:天津大学,2008 Zhang L M. Design of a 3-DOF translational high speed parallel manipulator[D]. Tianjin:Tianjin University, 2008(in Chinese)
[19]	贾凯凯.高速并联机械手控制方法研究[D].天津:天津大学,2014 Jia K K. Research on control methods for a High-speed parallel manipulators[D]. Tianjin:Tianjin University, 2014(in Chinese)
[20]	马骁.基于动力学的高速并联机械手控制方法研究[D].天津:天津大学,2006 Ma X. Investigation on dynamic control methods for a High-speed parallel manipulator[D]. Tianjin:Tianjin University, 2006(in Chinese)