新型搓澡与按摩机器人的动力学控制研究  

Study on Dynamic Control of New Rubbing Bathing and Massage Robot

作　　者：张浩强[1] 蔡柳[1] 卢森幸[1] 林彦伯 ZHANG Hao-qiang;CAI Liu;LU Sen-xing;LIN Yan-bo(Hechi University,Yizhou 546300,China)

机构地区：[1]河池学院,广西宜州546300

出　　处：《机械工程与自动化》2021年第3期22-25,共4页Mechanical Engineering & Automation

基　　金：河池学院2016年校级青年科研课题(XJ2016QN26);广西自然科学基金青年项目(2020GXNSFBA159036)。

摘　　要：为了研究新型搓澡与按摩机器人的运动轨迹,提高控制精度和工作效率,以新型6自由度对称3T3R支链型3-RPRS并联机构为研究对象,设计了新型搓澡与按摩机器人的动力学控制方法。首先采用影响系数法建立该机构的加速度和速度的映射关系,以分析其运动学;然后利用虚功原理推导了该新型并联机构的Lagrange逆动力学方程,求解了驱动力,在此基础上建立其逆动力学模型以及系统框图,以此引入基于动力学模型的前馈控制的改进控制方法和前馈控制系统;最后在Simulink仿真环境下,以预设运动轨迹和实际运动轨迹为输出目标,利用前馈控制系统对不同预设轨迹进行了算例追踪实验。结果表明:新型搓澡与按摩机器人的运动情况稳定、无突变;前馈控制系统下的修正理论系统动力学模型与实际轨迹存在的各向位移偏差变化在±1mm以内,80%的位移偏差控制在±0.8mm以内,从而保证了并联机构的运动稳定性。In order to study the motion trajectory of the new type of rubbing bathing and massage robot and to achieve precise control accuracy and improve its work efficiency,this paper takes a new type of 6-DOF symmetrical 3T3Rbranch-chain 3-RPRS parallel mechanism as the research object,and designs a new type of dynamic control method for rubbing bathing and massage robots.First,the influence coefficient method is used to establish the mapping relationship between the acceleration and the speed of the mechanism to analyze its kinematics.Then,using the principle of virtual work,the Lagrange inverse dynamic equation of the new type of parallel mechanism is deduced,and the driving force is solved.On this basis,the inverse dynamics model and system block diagram are established to introduce an improved control method and feedforward control system based on the dynamic model of feedforward control.Finally,in the Simulink simulation environment,with the preset motion trajectory and the actual motion trajectory as the output target,the feedforward control system is used to carry out the tracking experiments of different preset trajectories.The results show that the motion of the new type of rubbing bathing and massage robot is stable without sudden change;under the feedforward control system,the displacement deviation between the modified theoretical system dynamics model and the actual trajectory varies within±1mm,and 80%of the displacement deviation is controlled within±0.8mm,so as to ensure the stability of the movement of the parallel mechanism.

关 键 词：新型搓澡与按摩机器人 动力学 控制分析 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]