三自由度永磁球形电动机运动学与动力学分析  

Kinematic and Dynamics Analysis for 3-DOF PM Spherical Motor

作　　者：吴凤英[1] 翟献超 

机构地区：[1]天津理工大学天津市复杂控制理论与应用重点实验室,天津300384

出　　处：《机械设计与研究》2017年第3期58-61,68,共5页Machine Design And Research

基　　金：天津市应用基础与前沿技术研究计划资助项目(14JCYBJC18400)

摘　　要：针对在众多领域内要求执行机构必须在一定的空间内多自由度地完成某些特定的工作,研究了一种新型的多自由度执行装置三自由度永磁球形电机。以旋量理论和李群李代数做为基础,对该装置进行运动学与动力学分析,以POE指数积法求解三自由度永磁球形电机的运动学正解、逆解,综合分析各运动杆件运动学分析的结果,使用运动螺旋和指数积公式的数学工具对其进行分析,得到其速度变换的雅可比矩阵以及求取三自由度永磁球形电机运动所需的驱动力矩,基于凯恩方程和旋量理论建立三自由度永磁球形电机动力学模型。为三自由度永磁球形电机轨迹规划以及运动控制等后续研究提供了重要的理论基础。According to the requirements of the actuator in the certain space must be complete certain tasks within muhiple degree of freedom ,in this paper, we study a model of multiple degree of freedom execution device . Based on screw theory and Lie groups and Lie algebras analysis the device kinematic , using the POE index product method to solve the three degree of freedom permanent magnetic spherical motor kinematics positive solution and inverse solution, comprehensive analysis the resuhs kinematic analysis of the motion shaft, using spiral motion and exponential product formula of mathematical tools to analyze it and get the transformation of velocity Jacobian matrix and solve three degree of freedom spherical permanent magnet motor of driving torque, established three degree of freedom spherical permanent magnet motor dynamics model base on Kane＇s equations and screw theory It provides an important theoretical basis for the following research on the trajectory planning and motion control of the three degree of freedom permanent magnet spherical motor.

关 键 词：旋量理论 三自由度 永磁球形电机 运动学 动力学 

分 类 号：TH112[机械工程—机械设计及理论]