高速运动下并联机器人主动支链的动力学耦合特性

doi:10.13973/j.cnki.robot.2017.0603

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山显雷, 程刚. 高速运动下并联机器人主动支链的动力学耦合特性[J]. 机器人, 2017, 39(5): 603-607.DOI: 10.13973/j.cnki.robot.2017.0603. SHAN Xianlei, CHENG Gang. Dynamic Coupling Characteristics of Active Branches of Parallel Manipulator with High Speed Motion. ROBOT, 2017, 39(5): 603-607. DOI: 10.13973/j.cnki.robot.2017.0603.

摘要为研究并联机器人主动支链间在关节空间内的动力学耦合特性，首先，建立了一般并联机器人基于关节空间的动力学模型，进行了动力学耦合力矩分析，定义了动力学耦合强度系数，该系数适用于一般并联机器人动力学耦合特性描述，且具有统一标度．然后，以一种2（3HUS+S）并联机器人为例，基于动力学耦合强度系数进行了动力学耦合特性分析，得到了动力学耦合特性在所需运动轨迹内的变化规律，并设计实验测得了主动支链的实际耦合力矩，通过对比分析验证了理论研究的正确性．最后，针对2（3HUS+S）并联机器人，得到了其动力学耦合特性随结构参数的变化规律，通过适当减小连接杆长度及动平台半径与底面基座半径的比值，可在一定程度上降低主动支链间的动力学耦合程度．

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关键词 ：并联机器人, 动力学建模, 动力学耦合, 动态性能

Abstract：To study the dynamic coupling between the active branches of parallel manipulator in joint space, a dynamic model of general parallel manipulator in joint space is established firstly, and a dynamic coupling strength coefficient is defined based on the analysis of dynamic coupling moment. The coefficient with a unified scale is suitable for describing the dynamic coupling characteristics of general parallel manipulators. Secondly, the dynamic coupling strength coefficient is applied to analyzing the dynamic coupling characteristics of a 2(3HUS+S) parallel manipulator, and the variation law of dynamic coupling characteristics along the desired motion trajectory is obtained. The actual dynamic coupling moments of the active branches are measured in experiments, which verify the effectiveness of the theoretical studies. Finally, variation of the dynamic coupling strength coefficient along with the structural parameters is calculated for the 2(3HUS+S) parallel manipulator. In order to reduce the dynamic coupling between the active branches, the length of the joint lever and the ratio of the radius of the moving platform to the radius of the base platform should be reduced properly.

Key words： parallel manipulator dynamic modeling dynamic coupling dynamic performance

收稿日期: 2017-03-26 录用日期: 2017-06-30

TH113

基金资助:国家自然科学基金（91648105）；江苏高校优势学科建设工程项目；江苏高校品牌建设工程项目

通讯作者: 程刚,chg@cumt.edu.cn E-mail: chg@cumt.edu.cn

作者简介: 山显雷(1987-),男,博士.研究领域:机器人机构学.
程刚(1977-),男,博士,教授.研究领域:机器人机构学,大型机电设备可靠性及故障诊断技术等.

链接本文:

https://robot.sia.cn/CN/10.13973/j.cnki.robot.2017.0603 或 https://robot.sia.cn/CN/Y2017/V39/I5/603

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