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  • ISSN：0577-6686
机械工程学报

机械工程学报 ›› 2016, Vol. 52 ›› Issue (21): 17-25.doi: 10.3901/JME.2016.21.017

• 机械学及机器人 • 上一篇    下一篇

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多能域过约束并联机器人系统动力学建模方法*

李永泉1,2, 宋肇经1,2, 郭菲1,2, 单张兵1,2, 张立杰2,3   

  1. 1. 燕山大学河北省并联机器人与机电系统实验室 秦皇岛 066004；
    2. 先进锻压成形技术与科学教育部重点实验室(燕山大学) 秦皇岛 066004；
    3. 燕山大学河北省重型机械流体动力传输与控制实验室 秦皇岛 066004
  • 出版日期:2016-11-05 发布日期:2016-11-05
  • 作者简介:李永泉，男，1979年出生，副教授，硕士研究生导师。主要研究方向为并联机构及机器人技术。

    E-mail：lijiang197879@sina.com

    张立杰(通信作者)，男，1969 年出生，教授，博士研究生导师。主要研究方向为并联机构及机器人技术。

    E-mail：ljzhang@ysu.edu.cn

  • 基金资助:
    * 国家自然科学基金(51405421， 51275438)和河北省自然科学基金(E2015203101)资助项目; 20150812收到初稿，20160511到修改稿;

Dynamic Modeling Method for Overconstrained Multi-energy Domain Parallel Manipulator

LI Yongquan1,2, SONG Zhaojing1,2, GUO Fei1,2, SHAN Zhangbing1,2, ZHANG Lijie2,3   

  1. 1. Parallel Robot and Mechatronic System Laboratory of Hebei Province，Yanshan University， Qinhuangdao 066004;
    2. Key Laboratory of Advanced Forging & Stamping Technology and Science (Yanshan University)， Ministry of Education of China， Qinhuangdao 066004;
    3. Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control， Yanshan University， Qinhuangdao 066004
  • Online:2016-11-05 Published:2016-11-05

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摘要：

采用旋量键合图建立球面2-DOF过约束并联机器人机电两种能量并存系统动力学模型，该方法相对传统力学原理动力学建模方法的优点是建模过程规则化，能够得到适合于现代控制理论的空间并联机构状态方程。所建动力学模型只有36个方程，但由于被动过约束(公共约束和冗余约束)和主动过约束(冗余驱动)的存在，共有43个未知量需要求解。为此，针对被动过约束问题，分析三个分支变形引起末端相对于球心O的位移量，增加了6个变形协调补充方程;针对主动过约束问题，提出了采用输入力优化的方法，增加了1个补充方程，最终得到了该机器人完整的多能域系统动力学全解模型。通过数值算例，验证了该方法的可行性和合理性。该方法可以推广到其他包含机、电、液、气的多能域过约束并联机器人系统，为该类多能域机器人系统动力学建模分析提供了一种新的思路。

关键词: 并联机构, 多能域, 过约束, 旋量键合图, 动力学建模

Abstract: The dynamic model of the spherical 2-DOF overconstrained parallel manipulator which contains electrical and mechanical subsystem is established by using the screw bond graph. It can obtain the state equations of space parallel mechanism which suitable for control systems. Because of the existence of the passive overconstrained (common constraints or redundant constraints) and active overconstrained (actuation redundancy). There are 43 unknown variables need to be solved, but only 36 equations in the dynamic model. Therefore, in order to solve the problem of passive overconstrained, the displacement of the chains’ end which is caused by chains deformation relative to the center of sphere O is analyzed, respectively. And six supplementary equations of deformation compatibility are added. Aiming at the issue of active overconstrained, the method of driving force optimization is proposed, so the last one supplementary equation is added. Finally, the complete dynamic model of the parallel manipulator is obtained. And then the feasibility and rationality of the method are verified by numerical examples and verification. It also makes a foundation for the following research on the dynamic parameter identification of the parallel manipulator.

Key words: multi-energy domain, overconstrained, parallel mechanism, screw bond graph, dynamic modeling

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