3RPS并联机器人粘性摩擦工况动力学建模.PDFVIP

20 18 年9 月 农 业 机 械 学 报 第49 卷 第9 期 doi:10.6041/ j.issn.1000鄄1298.2018.09.044 3 RPS并联机器人粘性摩擦工况动力学建模 张彦斐摇 金摇 鹏摇 宫金良摇 刘摇 强 (山东理工大学机械工程学院,淄博255049) 摘要:以转动副轴线平行布置的3 RPS并联机器人为研究对象,提出一种基于拉格朗日算子修正的动力学建模 方法。 首先,采用矢量法建立系统运动学模型,基于拉格朗日方程法建立系统理想动力学模型。 然后,将关节摩擦 视为系统非保守力,基于“库伦+粘性冶摩擦模型对关节摩擦所做的功精确量化处理。 最后以摩擦所做负功的形式 对拉格朗日算子进行修正,建立考虑全部关节摩擦的系统动力学模型。 同时对所建立的考虑关节摩擦和忽略关节 摩擦的动力学模型进行了仿真对比,结果表明,在一个仿真周期内,移动副 1、2、3 驱动力的相对误差分别为 18郾1%、12郾6%、16郾5%,试验结果为机器人控制系统的摩擦补偿提供了理论依据。 关键词:3 RPS并联机器人;拉格朗日方程法;“库伦+粘性冶摩擦模型;关节摩擦 中图分类号:TH113 文献标识码:A 文章编号:1000鄄1298(2018)09鄄0374鄄08 Dynamic Modeling of3 RPS Parallel Robot Considering Joint Friction ZHANG Yanfei摇 JIN Peng摇 GONGJinliang摇 LIU Qiang (School of Mechanical Engineering,Shandong University of Technology,Zibo255049,China) Abstract:During the process of dynamic analysis of the robot,the researchers generally ignored or not fully considered the effect of joint frictions on the dynamic model of the robot. Although the process of mathematical deductionwassimplified,themodelwasquitedifferentfromthepractice. Takinga3 RPS parallelrobotofwhichtherotationaxeswereparallelarrangedastheresearchobject,adynamicmodeling method based on modified Lagrange operatorwaspresented. Firstly,the DOFof the movingplatformwas studied based on the screw theory and the kinematics model of the system was established by vector method. By analyzing the kinetic energy and potential energy of thewhole moving components,the ideal dynamic model of theparallelrobotwassetupbasedon Lagrangeequations. Afterthat,takingthe single chain,telescopic rod and moving platform as the research objects,the constraining forces of all motion jointswere solved based on the D忆 Alembert蒺s princ