含关节间隙的3-CPaRR并联机构的动力学分析及自适应滑模控制  

Dynamics analysis and adaptive sliding mode control of 3-CPaRR parallel mechanism with joint clearance

作　　者：曹毅 王见 刘俊辰 朱景原 CAO Yi;WANG Jian;LIU Junchen;ZHU Jingyuan(School of Mechanical Engineering,Jiangnan University,Wuxi 214122,China;State Key Laboratory of Robotics and System,Jiangnan University,Wuxi 214122,China;Jiangsu Key Laboratory of Advanced Food Manufacturing Equipment and Technology,Jiangnan University,Wuxi 214122,China)

机构地区：[1]江南大学机械工程学院,江苏无锡214122 [2]江南大学机器人技术与系统国家重点实验室,江苏无锡214122 [3]江南大学江苏省食品先进制造装备技术重点实验室,江苏无锡214122

出　　处：《哈尔滨工程大学学报》2019年第11期1917-1924,共8页Journal of Harbin Engineering University

基　　金：国家自然科学基金项目(50905075);江苏省“六大人才高峰”计划项目(ZBZZ-012);机器人技术与系统国家重点实验室开放课题项目(SKLRS-2016-KF-06);江苏省普通高校专业学位研究生实践创新计划项目(SJZZ16-0212);高等学校学科创新引智计划(B18027)

摘　　要：为研究构件铰接处间隙对3-CPaRR并联机构的影响,本文采用正态分布统计模型建立了含间隙关节径向、轴向及支链运动模型;基于Flores接触力、Coulomb摩擦力模型和非完整系统的Lagrange方程对3-CPaRR机构开展了含间隙动力学建模;对模型求解,分析了不同间隙值对3-CPaRR机构的影响,并基于ADAMS软件的虚拟样机仿真结果对比分析了关节间隙运动学模型建立的合理性。针对常规滑模变结构控制的抖振与无法准确抑制时变扰动问题,设计该机构自适应滑模运动控制器,通过Lyapunov函数分析其稳定性,该控制器省去了对不确定项上界的估计,且可对该系统状态进行实时补偿,对比仿真计算结果显示该控制方法收敛速度快且控制精度高,提高了系统的鲁棒性。本文研究为含关节间隙的多体系统提供了研究方法,同时也为该并联机构实时控制系统的研究提供了理论基础。To study the effect of clearance at the hinge of components on a 3-CPaRR parallel mechanism,first,the radial,axial,and branch kinematic models of the joint with clearance are established using the statistical model of normal distribution.Then,based on Flores contact force,Coulomb friction model,and Lagrange equation of a nonholonomic system,a dynamic model with clearance for a 3-CPaRR parallel mechanism is developed.The model is solved,and the influence of different clearance values on a 3-CPaRR parallel mechanism is analyzed.The theoretical analysis and numerical example are validated using virtual simulation results in ADAMS.To solve the chattering of conventional sliding mode variable structure control and the problem that the disturbance cannot be accurately restrained,the adaptive sliding mode motion controller is designed.The stability of the model is analyzed using a Lyapunov function.The controller does not need to estimate the upper bound of uncertainty,and the state of the system can be compensated in real time.By comparing with the simulation result,the control method is found to have fast convergence speed and high control accuracy,improving the controller robustness.This study provides a new research method for the multi-body system with joint clearance,and also provides a theoretical basis for the study of real-time control systems of parallel mechanisms.

关 键 词：并联机构 关节间隙 运动学 动力学 LAGRANGE方程 自适应滑模控制 鲁棒性 

分 类 号：TH113[机械工程—机械设计及理论]