3-CP_aRR并联机构的动力学分析及滑模控制  

Dynamics Analysis and Sliding Mode Control of 3-CP_aRR Parallel Mechanism

作　　者：朱景原 王见 丁泽华 周睿 刘俊辰 曹毅 Zhu Jingyuan;Wang Jian;Ding Zehua;Zhou Rui;Liu Junchen;Cao Yi(School of Mechanical Engineering,Jiangnan University,Wuxi 214122,China;State Key Laboratory of Mechanical System and Vibration,Shanghai Jiao Tong University,Shanghai 200240,China;State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150080,China;Jiangsu Key Laboratot7 of Advanced Food Manufacturing Ecluipment and Technology,Wuxi 214122,China)

机构地区：[1]江南大学机械工程学院,江苏无锡214122 [2]江苏省食品先进制造装备技术重点实验室,江苏无锡214122 [3]上海交通大学机械系统与振动国家重点实验室,上海200240 [4]哈尔滨工业大学机器人技术与系统国家重点实验室,黑龙江哈尔滨150080

出　　处：《机械传动》2018年第6期68-75,共8页Journal of Mechanical Transmission

基　　金：江苏省"六大人才高峰"项目(ZBZZ-012);机械系统与振动国家重点实验室开放课题项目(MSV201712);机器人技术与系统国家重点实验室开放基金项目(SKLRS-2016-KF-06)

摘　　要：为建立一种新型三自由度解耦并联机构(3-CP_aRR)的刚体动力学模型和滑模控制器,详细地阐述了该机构的结构组成;通过运动学约束分析,研究了该机构的运动学规律,揭示了该机构在空间正交方向上的移动完全解耦特性,确定了支链末端转动关节为消极运动副;基于运动学分析的结果,运用Lagrange方程法建立了该解耦并联机构的动力学模型;基于上述分析利用滑模面设计了该并联机构控制器,基于Lyapunov函数分析了系统稳定性;通过实例计算,分析了驱动构件的线速度、驱动力的变化规律,与ADAMS虚拟仿真结果对比验证了动力学模型的正确性,并验证了滑模控制器的有效性和稳定性。上述研究为该解耦并联机构的样机制作和实时控制系统的研究提供了理论基础。To establish a rigid dynamics model of a 3 degree-of-freedom decoupled parallel mechanism（a 3-CP_aRR decoupled parallel mechanism） and sliding mode controller,the structure component of the mechanism is described and the kinematics is revealed by analyzing the kinematics constraints. The analysis of kinematics constraint shows that the translational displacement of the mechanism is completely decoupled in the three orthogonal directions,and the rotation joints of the limb distal link are the negative kinematics pairs.According to the result of analysis,the dynamics model of the 3-CP_aRR decoupled parallel mechanism is established by using the Lagrange equation. Meanwhile,a controller is designed by means of the sliding mode surface,and the system stability is analyzed via Lyapunov function. Finally,the linear velocity and driving force are analyzed through a numerical example. The validity of theoretical analysis and numerical example are demonstrated by the virtual simulation results in ADAMS. At the same time,the validity and stability of the sliding mode controller are also demonstrated. The research provides a theoretic foundation for research on the prototype manufacturing and real-time control system.

关 键 词：解耦并联机构 运动学 动力学 滑模控制 仿真分析 

分 类 号：TH112[机械工程—机械设计及理论]