丝传动3-SPR并联机构运动学分析与力反馈控制  

Kinematics Analysis and Force Feedback Control of Wire-Driven 3-SPR Parallel Mechanism

作　　者：王攀峰[1] 王星[1] 郭璠[1] 杨彦东[2] Wang Panfeng;Wang Xing;Guo Fan;Yang Yandong(Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education,Tianjin University,Tianjin 300350,China;College of Mechanical Engineering,Yanshan University,Qinhuangdao 066004,China)

机构地区：[1]天津大学机构理论与装备设计教育部重点实验室,天津300350 [2]燕山大学机械工程学院,秦皇岛066004

出　　处：《天津大学学报（自然科学与工程技术版）》2022年第2期184-190,共7页Journal of Tianjin University：Science and Technology

基　　金：国家自然科学基金资助项目(51875392,51875391);国家重点研发计划资助项目(2018TBF1304600).

摘　　要：并联机构刚性高且动态性能好,用于开发力反馈设备时,在力觉刚性以及位姿分辨率方面优势明显.学界与业界多基于Delta机构开发高性能并联力反馈设备,本文采用3-SPR并联机构设计和开发出一种新型力反馈设备.采用丝传动方式并基于差动原理,提出了一种新型直线动单元作为3-SPR并联力反馈机构驱动副,有效提升了力反馈设备的位姿分辨率与力觉刚性.并联机构的位置正解效率直接影响操控力反馈设备的实时性,本文以动平台中心和球铰链中心距为中间变量,构造出量纲统一的迭代矩阵,实现了该机构位置正解模型的高效求解.相较于传统位置正解的数值方法,求解效率提升近一个数量级,大幅提升了该力反馈机构的位姿反馈实时性.在运动学模型的基础上,基于虚功原理建立了力反馈机构的力映射模型,提出一种含机构重力补偿的反馈力计算方法.基于上述方法开发算法并设计出控制系统,实现了力反馈机构的位姿实时监控及反馈力控制.通过重力补偿实验,验证了上述方法及其控制系统的有效性.Owing to its high rigidity and good dynamic performance,the parallel mechanism has been used to develop high-performance force feedback devices,resulting in good force sense rigidity and high pose resolution.In academia and industry,most high-performance parallel-force feedback devices have been developed based on the Delta mechanism.In this study,a new type of force feedback device is designed using the 3-SPR parallel mechanism.Based on the differential principle,a linear wire-driven unit is proposed.It constitutes the driving pair of the 3-SPR parallel-force feedback mechanism and effectively improves the pose resolution and force sense rigidity.The efficiency of the forward position solution of the parallel mechanism directly affects the real-time control performance of the force feedback device.Considering the distance between the center of the moving platform and the center of the spherical hinge as the intermediate variable,a unified dimension of the iterative matrix is constructed to obtain an high efficient solution to the forward kinematics.Compared with the traditional numerical method,the solution efficiency of the force feedback mechanism is improved by approximately an order of magnitude,and the real-time performance of the force feedback mechanism is considerably improved.Based on the kinematic model and virtual work principle,the static model of the force feedback mechanism is established,and a force feedback calculation method is proposed with gravity compensation.Based on the above method,the algorithms have been developed,and the control system has been designed to achieve real-time pose monitoring and feedback force control.The effectiveness of the above method and control system is verified by conducting the gravity compensation experiment.

关 键 词：丝传动 力反馈 并联机构 运动学正解分析 

分 类 号：TP249[自动化与计算机技术—检测技术与自动化装置]