柔性平面3-RRR并联机器人耦合动力学及模态特性研究  

A coupling dynamics and modal characteristics study on a flexible planar 3-RRR parallel robot

作　　者：盛连超 李威[1] 王禹桥[1] 范孟豹[1] 杨雪锋[1] SHENG Lianchao;LI Wei;WANG Yuqiao;FAN Mengbao;YANG Xuefeng(School of Mechatronic Engineering,China University of Mining and Technology,Xuzhou 221116,China)

机构地区：[1]中国矿业大学机电工程学院,江苏徐州221116

出　　处：《振动与冲击》2018年第16期1-6,共6页Journal of Vibration and Shock

基　　金：国家自然科学基金(51305444;U1610111);江苏省六大人才高峰资助项目(ZBZZ-041);江苏省科技计划(BY2014028-06);江苏高校优势学科建设工程(PAPD)

摘　　要：为了有效抑制柔性平面3-RRR并联机器人柔性杆件的弹性变形,针对现有动力学模型复杂,不易求解,控制器设计困难等问题。考虑刚柔耦合效应及两端集中转动惯量对柔性中间连杆的作用,确定柔性中间连杆的边界条件为两端铰支并计算其振型函数。考虑柔性中间连杆的主要振动模态及系统惯性力和耦合力的影响,在保证精度的基础上建立系统简单实用的动力学模型。将所建动力学模型分析结果与有限元分析软件(ANSYS)及模态试验结果对比,结果表明,所建立动力学模型能够有效反映柔性平面3-RRR并联机器人的主要振动模态,并能充分反映惯性力和耦合力对柔性中间连杆动力学模型及模态特性的影响,同时此模型由于动态参数较少,方便依托动力学模型为基础的控制方案实施。This work aims at the problem of model solving and subsequent control difficulties caused by complexity of the dynamics model of a flexible planar 3-RRR parallel robot and effectively suppressing the elastic deformation of the flexible planar 3-RRR parallel manipulator.Firstly,considering the rigid-flexible coupling between the rigid drive link and the flexible intermediate link and the influence of the momentary inertia at both ends on the flexible intermediate link,the boundary condition of the flexible intermediate link was determined to be pinned at both ends and its mode function was calculated.Then,considering the main vibration modes of the flexible intermediate link and the influence of the inertia force and the coupling force of the system,the high efficiency dynamic model of the system was established on the basis of guaranteeing the model control precision.Finally,the results of the dynamic model analysis were compared with the finite element analysis software(ANSYS)and the modal test results.The results show that the dynamic model established in this work can effectively reflect the main vibration modes of the 3-RRR parallel robot and can fully reflect the influence of inertial force and coupling force on the dynamic model and modal characteristics of flexible intermediate link.At the same time,this model has fewer dynamic parameters,which is convenient to implement control program.

关 键 词：柔性并联机器人 ANSYS仿真分析 假设模态法 耦合动力学模型 模态特性 

分 类 号：TH112[机械工程—机械设计及理论] TH113.1