• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2017, Vol. 53 ›› Issue (18): 121-130.doi: 10.3901/JME.2017.18.121

• 运载工程 • 上一篇    下一篇

一种冗余6-DOF并联机构的结构特性与运动学分析

王启明1, 苏建1, 张益瑞1, 吕志超2, 林慧英1, 徐观1   

  1. 1. 吉林大学交通学院 长春 130022;
    2. 吉林大学通信工程学院 长春 130022
  • 收稿日期:2016-11-23 修回日期:2017-04-18 出版日期:2017-09-20 发布日期:2017-09-20
  • 通讯作者: 苏建(通信作者),男,1954年出生,博士,教授,博士研究生导师.主要研究方向为车辆智能监测诊断.E-mail:wang.qiming2008@163.com
  • 作者简介:王启明,女,1991年出生,博士研究生.主要研究方向为车辆智能监测.E-mail:726571304@qq.com
  • 基金资助:
    国家自然科学基金(51575232)和吉林省科技厅重点科技攻关(20160204018GX)资助项目。

Structure Characteristics and Kinematic Analysis of Redundant 6-DOF Parallel Mechanism

WANG Qiming1, SU Jian1, ZHANG Yirui1, LÜ Zhichao2, LIN Huiying1, XU Guan1   

  1. 1. College of Transportation, Jilin University, Changchun 130022;
    2. College of Communication Engineering, Jilin University, Changchun 130022
  • Received:2016-11-23 Revised:2017-04-18 Online:2017-09-20 Published:2017-09-20

摘要: 建立转向架参数测定试验台几何解析模型与运动学模型,提出一种基于类线性解耦几何解析法与高阶收敛迭代法相结合的混合策略求解并联机构位姿正解。利用类线性解耦几何解析法建立方程组快速求解位姿正解近似值且作为高阶收敛迭代法的初值。以转向架参数测定试验台为例,基于方位特征集理论(Position and orientation characteristics,POC)对该冗余6-DOF机构进行拓扑结构特性分析和运动学结构分析求得位移传输比矩阵r,根据位移叠加性原理建立方程组求得正解初值,进而运用高阶迭代法求解位姿正解。选取圆形周期性轨迹作为该机构运动轨迹,仿真结果表明,几何解析法求得位姿正解误差值不超过0.8%,且混合策略相比Newton-Raphson法迭代次数减少41%,迭代时间缩短23%,满足了试验的实时性要求。试验台回转角刚度试验结果表明:运用装置测量的回转角度值较给定值误差小于0.041 rad,而用提出方法计算回转角度值误差不超过0.019 rad,进一步验证混合策略的有效性与实时性。

关键词: 高阶迭代法, 轨道交通, 类线性解耦, 冗余并联机构, 位姿正解

Abstract: Geometric analytical model and kinematic model of test bench for bogie parameters(TBBP) are established. A hybrid strategy(HS) based on geometric analytical method and High-order convergent iteration method for the forward kinematics problem (FKP) of parallel mechanism is proposed. Set the pose value fast obtained by solving the equations built by geometric analytic method as the initial guess of high-order convergent iteration method. Taking the TBBP as an example, based on the theory of position and orientation characteristic(POC) set, the Topological structure characteristics of the redundant 6-DOF parallel mechanism was analyzed. Specific Ratio matrix is acquired by analyzing kinematic structure characteristics of this mechanism. According to Principle of displacement superposition, the initial guess of FKP is gained. This solution is next considered as an initial guess for high-order numerical technique and obtains the answer with a desired level of accuracy. Select circumferential trajectory as the mechanism's motion trail, simulation results shows that compared with given value, error value of the FKP computed by geometric analytic method is less than 0.8%. And comparing with Newton-Raphson(NR) method, iteration number of HS is reduced by 41%, iteration time is reduced by 23%. The real-time demand of the test is thus satisfied. Using the TBBP to test the Angular stiffness of rotation of bogie,test results show that compared with given value, the error of measurement value using the device is less than 0.041rad,however the error of computed value obtained by the proposed method is within 0.019rad.The effectiveness and real-time performance of the hybrid strategy is further verified.

Key words: forward kinematics, high-order iterative, linear decoupling, rail vehicle, redundant parallel mechanism

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