Dynamic Modeling, Performance Analysis and Control Strategy for a Schönflies Parallel Mechanism with High-speed and Large-load Capacity

doi:10.3901/JME.2024.23.114

Abstract

Abstract: Facing the increasing demand for high-speed and large-load operation in textile, food and logistics transportation, the complete dynamics modeling, performance analysis and control issues of a type of Schönflies parallel mechanism are investigated. First, the degrees of freedom (DOFs) and constraint space of the chains are characterized visually by means of the line atlas method, and then it is demonstrated that the moving platform of the mechanism has three translational and one rotational DOFs. On the basis of partial velocity analysis, the refined rigid-body dynamics model is established via Kane’s formulation, which is organized as the normalized form to facilitate the performance evaluation and control strategy design. The dynamics model within task space is transformed into the one within joint space, and the dynamic performance of the mechanism is analyzed by the joint-reflected inertia (JRI) index and the coefficient of variation of joint-space inertia (CVI) index. A multi-body physical simulation model is developed to verify the validity of the dynamics model, and then the friction effect is considered based on the joint constraint forces to calculate the Coulomb-viscous friction moments of active joints. To realize the accurate motion control, one kind of fuzzy nonlinear computed torque control (FNCTC) strategy is proposed, and the task oriented control simulation experiment is conducted. The comparative results under different controller suggest that the FNCTC can effectively compensate the effect of friction moments and uncertainty so that the high precision trajectory tracking and positioning can be guaranteed.

Key words: high-speed large-load parallel mechanism, Kane equation, multi-body simulation test, Cullen-viscous friction, fuzzy nonlinear computed torque control

CLC Number:

TG156

LIANG Dong, ZHANG Junpeng, YAO Fulin, SONG Yimin, SUN Tao. Dynamic Modeling, Performance Analysis and Control Strategy for a Schönflies Parallel Mechanism with High-speed and Large-load Capacity[J]. Journal of Mechanical Engineering, 2024, 60(23): 114-129.

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