平面3-RRR并联机构的自激振动实验研究

发布时间：2018-01-16 07:06

本文关键词：平面3-RRR并联机构的自激振动实验研究　出处：《华南理工大学学报(自然科学版)》2017年05期 　论文类型：期刊论文

【摘要】：从平面3-RRR并联机构的位形和关节驱动两方面,研究了位形的奇异性和驱动电机的伺服增益对机器人自激振动现象的影响.首先建立了平面3-RRR并联机构的运动约束方程,求导得到速度约束方程和加速度约束方程,给出位置、速度、加速度的正、逆解,利用速度雅可比矩阵分析奇异特性;然后搭建了实验系统,分析驱动电机的控制原理,分别测试在奇异位形和非奇异位形的自激振动,通过传感器测试驱动关节的位移、速度和加速度,并进行正解得到动平台的位置和加速度,正解得到的加速度与动平台实测加速度吻合较好;最后通过调整驱动电机的伺服增益避免了非奇异位形处的自激振动.
[Abstract]:From the plane 3-RRR parallel mechanism configuration and joint drive two aspects. The effects of the singularity of configuration and the servo gain of the drive motor on the self-excited vibration of the robot are studied. Firstly, the kinematic constraint equation of the planar 3-RRR parallel mechanism is established. The velocity constraint equation and acceleration constraint equation are derived, and the positive and inverse solutions of position, velocity and acceleration are given. The singular properties are analyzed by velocity Jacobian matrix. Then an experimental system is built to analyze the control principle of the drive motor. The self-excited vibration in the singular configuration and the non-singular configuration are tested respectively. The displacement, velocity and acceleration of the drive joint are measured by the sensor. The position and acceleration of the moving platform are obtained by the positive solution, and the acceleration obtained by the positive solution is in good agreement with the measured acceleration of the moving platform. Finally, the self-excited vibration at the nonsingular configuration is avoided by adjusting the servo gain of the drive motor.
【作者单位】：华南理工大学广东省精密装备与制造技术重点实验室∥机械与汽车工程学院;
【基金】：NSFC-广东省自然科学联合基金资助项目(U1501247) 东莞市重大科技项目(2015215119)~~
【分类号】：TH112;TP242
【正文快照】： 已有大量关于并联机器人的优化设计、运动学、标定、奇异、动力学和控制方面的研究.Tsai等[1]通过数值迭代方法求取3-PRS并联机器人的正解;Sadjadian等[2]通过人工神经网络求解冗余并联机器人的正解;Bonev等[3]利用冗余传感器的信息消除运动学正解的多解问题,得到解析解;高名

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