三自由度绳牵引平面并联机器人力_位控制研究_张立勋.pdfVIP

24 3 V o.l 24 N o. 3 2008 6 M achine D esign and R esearch Jun. , 2008 文章编号: 1006-2343( 2008 03-022-04 三自由度绳牵引平面并联机器人力 /位控制研究 , , , ( 哈尔滨工程大学 机 工程学院, 哈尔滨 150001, E-m a il: liupan 1980@ sina. com : 针对三自由度平面绳牵引并联机器人在如何保持 一定绳张力的条件下实现 置控制的问题进行 了仿真研究利用牛顿- 欧拉法建立了机器人的包括电机在内的动力学方程考虑到系统正常工作时绳需要 具有 一定的张力, 给出了力分解模型, 提出了一种力/ 并行控制策略: 力回路用于控制绳的张力大小, 置回 路用于实现末端轨迹跟踪最后对机器人控制系统进行了仿真分析, 仿真结果表明, 该控制策略不仅能够解决 绳的张力问题, 而且满足对轨迹跟踪要求 : ; /; : TP242 : A Research on Force/Position Control of 3-DOF PlanarW ire-driven ParallelRobot ZHANG L -i xun, L IU P an, WANG Ke-y i, ZHANG J in-yu ( Co llege of M echan ica l and E lectrical Eng inee ring, H arb in Eng ineer ing U n ive rs ity, H a rbin 15000 1, Ch ina Abstract: T ak ing a 3-DOF planar w ire-driv en para lle l robot as the research ob ject, the com prehensive research w as m ade on how to m a inta in a ll w ire tensions positive fo r allm o tion. U sing the N ew ton-Euler me thod, the robo t dy- nam ics equation w as established according ly. Consider ing tha t the w ire should have the certa in tension w hen the system w orked norm a lly, the fo rce decom position m ode lw as g iven and one k ind of force / position con tro l stra tegy w as proposed that the pos ition loop w ould realize the end-effectors trajecto ry and the fo rce loop w ould control the w ire tens ion. F ina-l ly the robo t con tro l system w as s mi u lated and ana ly zed. T he resu lts show tha t the con tro l stra tegy no t on ly can so lv e the problem but also m eet the pa th track ing requ irem ents. Key words: w ire-driv en; force /pos