2-UPR-RPU并联机器人的动力学建模与性能分析

doi:10.3901/JME.2020.13.110

机械工程学报 ›› 2020, Vol. 56 ›› Issue (13): 110-119.doi: 10.3901/JME.2020.13.110

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2-UPR-RPU并联机器人的动力学建模与性能分析

柴馨雪, 杨泳, 徐灵敏, 李秦川

浙江理工大学机械电子工程系杭州 310018

收稿日期:2020-02-21 修回日期:2020-05-06 出版日期:2020-07-05 发布日期:2020-08-01
通讯作者: 李秦川(通信作者),男,1975年出生,博士,教授。主要研究方向为并联机器人机构学和应用技术。发表论文30余篇。E-mail:lqchuan@zstu.edu.cn
作者简介:柴馨雪,女,1988年出生,博士,讲师。主要研究方向为基于几何代数的机构学理论。E-mail:chaixx@zstu.edu.cn;杨泳,男,1993年出生,硕士研究生。主要研究方向为并联机构的动力学。E-mail:yy51304978yy@163.com;徐灵敏,男,1993年出生,博士研究生。主要研究方向为并联机构的运动学和动力学。E-mail:xulingmin1993@163.com
基金资助:
国家自然科学基金（51525504，51935010）和浙江省自然科学基金（LQ19E050015）资助项目。

Dynamic Modeling and Performance Analysis of a 2-UPR-RPU Parallel Manipulator

CHAI Xinxue, YANG Yong, XU Lingmin, LI Qinchuan

Department of Mechanical and Electronic Engineering, Zhejiang Sci-Tech University, Hangzhou 310018

Received:2020-02-21 Revised:2020-05-06 Online:2020-07-05 Published:2020-08-01

摘要/Abstract

摘要： 动力学建模和性能分析是并联机器人设计中的研究重点。以2-UPR-RPU三自由度并联机器人（U：虎克铰，P：移动副，R：转动副）为研究对象，采用螺旋理论对其进行动力学建模与性能分析。基于闭环矢量法建立2-UPR-RPU并联机器人的运动学逆解模型。采用螺旋理论分析2-UPR-RPU并联机器人分支中各个关节和杆件的速度和加速度，结合虚功原理计算2-UPR-RPU并联机器人运动时的驱动力，并通过ADAMS软件进行数值仿真验证。基于动力学模型分析2-UPR-RPU并联机器人的动态可操作度椭球指标，获得2-UPR-RPU并联机器人在不同操作高度下的转动和移动动态性能分布图谱，为机构的样机设计提供参考依据。2-UPR-RPU并联机器人的动力学建模和性能分析为实现机构在实际操作中的高效高精度控制提供了重要的基础保证。

关键词: 并联机器人, 螺旋理论, 动力学建模, 动力学性能分析

Abstract: Dynamic modeling and performance analysis of parallel manipulators are research priorities in the design stage. Based on the screw theory, a systemic dynamic modeling and performance evaluation of a 2-UPR-RPU three degrees of freedom parallel manipulator are presented, where U, P, and R denote universal, prismatic, and revolute joint, respectively. Firstly, the inverse kinematics of the 2-UPR-RPU parallel manipulator is presented. Next, through the screw theory, the velocity and acceleration analysis of joints and limbs in the 2-UPR-RPU parallel manipulator are discussed in detail, followed by the actuated force of three actuators are obtained based on the virtual work principle. A numerical simulation based on the ADAMS software is conducted to verify the correctness of the theoretical result. Then, the distributions of dynamic manipulability ellipsoid index are used to evaluate the dynamic translational and rotational performances of the 2-UPR-RPU parallel manipulator in different operation heights, which provide references for the design of prototype. The dynamic modeling and performance analysis provide a fundamental basis for the efficient and precise control of 2-UPR-RPU parallel manipulator in the actual machining manipulations.

Key words: parallel manipulator, screw theory, dynamic modeling, dynamic performance analysis

中图分类号:

TG156

柴馨雪, 杨泳, 徐灵敏, 李秦川. 2-UPR-RPU并联机器人的动力学建模与性能分析[J]. 机械工程学报, 2020, 56(13): 110-119.

CHAI Xinxue, YANG Yong, XU Lingmin, LI Qinchuan. Dynamic Modeling and Performance Analysis of a 2-UPR-RPU Parallel Manipulator[J]. Journal of Mechanical Engineering, 2020, 56(13): 110-119.

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2-UPR-RPU并联机器人的动力学建模与性能分析

Dynamic Modeling and Performance Analysis of a 2-UPR-RPU Parallel Manipulator

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