新型驱动冗余并联机构动力学建模及简化分析.pdfVIP

第 50 卷第 19 期 机 械 工 程 学 报 Vol.50 No.19 2014 年 10 月 JOURNAL OF MECHANICAL ENGINEERING Oct. 2 0 1 4 DOI ：10.3901/JME.2014.19.041 新型驱动冗余并联机构动力学建模及简化分析* 牛雪梅1 1 2 1 高国琴 刘辛军 鲍智达 (1. 江苏大学电气信息工程学院 镇江 212013 ； 2. 清华大学机械工程系 北京 100084) 摘要：动力学模型是进行动力学特性分析的基础，同时也是实现机构高精度时实控制的前提。以一种新型驱动冗余并 联机构为研究对象，采用 Lagrange 方程法建立了基于工作空间的动力学模型，并借助最小 2 范数法实现机构工作空间 的非约束等效广义力到轴向驱动力的优化。由于机构动力学方程存在非线性和强耦合特性，计算量大，难以满足实时 控制要求，为此，通过对机构各主要构件所引入的驱动力的分析，提出基于 RBF 神经网络误差补偿的动力学模型简化 方案。仿真结果验证了所建模型的正确性和模型简化方法的有效性。 关键词：并联机构；冗余驱动；动力学建模；Lagrange 方程；简化策略 中图分类号：TP242 Dynamic Formulation and Simplified Model of a Novel 3-DOF Parallel Mechanism with Actuation Redundancy NIU Xuemei 1 GAO Guoqin1 LIU Xinjun2 BAO Zhida1 (1. School of Electrical and Information Engineering, Jiangsu University, Zhenjiang 212013; 2. Department of Mechanical Engineering, Tsinghua University, Beijing 100084) Abstract ：Dynamics plays an important role in the application of parallel mechanism, which is the key to analyze the dynamic characteristics and achieve high-precision operation. The inverse dynamic model for a novel redundantly actuated parallel mechanism is formulated in the task space using Lagrangian formalism and the driving force is optimized by utilizing the minimal 2-norm method. By investigating the contribution of each term in the dynamic model to the driving force, a simplified strategy of the dynamic model for real-time control application is presented, and the subsequent model error is compensated by adopting RBF neural network. Simulation results verify the correctness and effectiveness of the proposed dynamic model and simplified strategy. Ke