• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2019, Vol. 55 ›› Issue (15): 208-216.doi: 10.3901/JME.2019.15.208

• 机械动力学 • 上一篇    下一篇

计及非完美运动副的移动并联机械手动力学分析

杨玉维1,2, 李彬1,2, 周海波1,2, 赵新华1,2, 宋阳1,2, 刘凉1,2, 赵磊1,2   

  1. 1. 天津理工大学天津市先进机电系统设计与智能控制重点实验室 天津 300384;
    2. 机电工程国家级实验教学示范中心(天津理工大学) 天津 300384
  • 收稿日期:2018-09-16 修回日期:2019-05-05 出版日期:2019-08-05 发布日期:2019-08-05
  • 通讯作者: 李彬(通信作者),男,1981年出生,博士,副教授。主要研究方向为机器人技术。E-mail:cnrobot@163.com
  • 作者简介:杨玉维,男,1975年出生,博士,副教授。主要研究方向为移动机器人、多体动力学、可穿戴机器人。E-mail:buddhawei@126.com
  • 基金资助:
    天津市科技重大专项(16ZXZNGX00070,15ZXZNGX00040,16ZXZNGX00010)、天津市自然科学基金重点项目(17JCZDJC30400);天津市自然科学基金(17JCYBJC18300,18JCYBJC87900)、国家自然科学基金青年基金(11702190)和国家重点研发计划“智能机器人”重点专项(2017YFB1303502)资助项目。

Dynamic Analysis of a Mobile Parallel Manipulator with Imperfect Kinematic Joints

YANG Yuwei1,2, LI Bin1,2, ZHOU Haibo1,2, ZHAO Xinhua1,2, SONG Yang1,2, LIU Liang1,2, ZHAO Lei1,2   

  1. 1. Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System, Tianjin University of Technology, Tianjin 300384;
    2. National Demonstration Center for Experimental Mechanical and Electrical Engineering Education(Tianjin University of Technology), Tianjin 300384
  • Received:2018-09-16 Revised:2019-05-05 Online:2019-08-05 Published:2019-08-05

摘要: 由于配合公差、设计及制造偏差等因素影响,导致机械手运动副间隙客观存在。而运动副间隙又可诱发系统冲击、振动,导致系统动力学性能下降(机械手动力学性能直接影响系统末端执行器轨迹跟踪精度)。针对具有间隙、摩擦运动副的移动并联机械手动力学性能进行相关研究。基于弹性Hertz理论、LuGre摩擦模型与关节支反力,系统构建运动副间隙约束与力学模型。为了便于采用多体动力学分析系统力学性能,首次提出、采用碰撞冲击方向矩阵,将间隙运动副力学模型转化为外力,进而依次系统构建移动并联、双串联机械手动力学模型。针对不同运动副间隙量、跟踪轨迹、负载等参数,进行动力学性能数值仿真,并对结果进行比较与分析,探讨了计及计及非完美运动副的移动并联机械手动力学分析的工程意义。

关键词: 刺破力, 缝合针, 能量耗散, 入刺速度, 猪肝脏, 冲击与摩擦, 动力学性能, 数值仿真, 运动副间隙

Abstract: It is the tolerances, design and manufacturing variations and other factors that lead to the objective existence of clearance kinematic joints of manipulators.Nevertheless, the clearances of kinematic joints usually induce the system shock,vibration,fatigue failure and other phenomena, which leads to the decrease of system dynamic performance.Manipulator dynamics directly affects the trajectory tracking accuracy of the end effector of system. Thus, the clearances and friction kinematic joints are considered to study the dynamic properties of a mobile parallel manipulator. Based on the elastic Hertz theory,the LuGre friction model and the joint reactions, the kinematic clearance constraints and the kinetic models are systematically modeled.In order to facilitate the application of multi-body dynamics to analyze the kinetic properties of system, the collision impact direction matrices are firstly proposed and adopted to transform kinetic model of clearance motion into external forces to apply, and then the mobile parallel and double serial dynamic models are constructed. According to the different parameters of kinematic joint clearances, working tracking trajectoriers and loaders, the numerical simulations of dynamic performance are carried out,and then the results are compared and analyzed. And then, the engineering significances of the dynamic analysis of the mobile parallel manipulator with imperfect kinematic joints are discussed.

Key words: Energy dissipation, Insertion velocity, Porcine liver, Puncture force, Suture needle, dynamic performance, kinematic joint clearances, numerical simulation, shock and friction

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