冗余驱动Tricept并联机构的驱动优化.pdfVIP

学兔兔 第46卷第5期 机 械 工 程 学 报 VO1．46 NO．5 2010年 3月 JOURNALL OF MECHANICAL ENGINEERING Mar． 2O10 DoI：1O．3901／JT E．2010．O5．008 冗余驱动Tricept并联机构的驱动优化水 卿建喜 李剑锋 方 斌 (北京工业大学北京市先进制造技术重点实验室 北京 100124) 摘要：对冗余驱动3自由度Tricept并联机构的逆运动学和逆动力学进行分析，基于牛顿一欧拉法建立机构的逆动力学方程。 针对冗余驱动方式下机构主动关节之间驱动力分配不唯一的特点，研究机构按预期轨迹运动时的驱动优化问题，提出最小化 驱动器最大瞬时驱动功率和最大瞬时驱动力的优化方法。结合实例分析机构驱动力2范数优化、最小化最大驱动力优化和最 小化最大驱动功率优化的效果，并与非冗余驱动方式进行对比。分析显示，冗余驱动能够较显著地降低驱动器的瞬时负载和 瞬时输出功率，并可结合驱动力2范数优化、最小化最大驱动力以及最小化最大驱动功率的优化效果分析，选取适当的驱动 方式以实现驱动器瞬时负载与瞬时输出功率的均衡与优化。 关键词：Tricept并联机构 冗余驱动 动力学 驱动优化 中图分类号：TH112．1 Drive Optimization of Tricept Parallel Mechanism with Redundant Actuation QING Jianxi LI Jianfeng FANG Bin (Advanced Manufacturing Technology of the Key Laboratory of Beijing Municipality, Beijing University of Technology,Beijing 100124) Abstract：The inverse kinematics and inverse dynamics of the 3-DOF Tricept parallel mechanism with redundant actuation are analyzed．The inverse dynamic equation of the mechanism is established on the basis of Newton-Euler approach．For the character that the distribution of the active joints’drive forces is not unique due to the redundant actuation，the drive optimization for the mechanism tracking anticipant trajectory is studied and the methods to minimize the maximum instantaneous values of driving power and driving force ofjoint actuators are proposed．The effectiveness of 2-norm optimizing of driving force，minimax value optimizing of driving force and minimax value optimizing of driving power are analyzed by means of several examples，and are compared with the result of no