提综臂辅助旋铆机械手动力学建模及控制仿真  

Dynamic modeling and control simulation of assisting-riveting manipulator for lifting arm

作　　者：梁栋[1,2] 梁正宇[1] 杨建成 徐振宇[3] LIANG Dong;LIANG Zheng-yu;YANG Jian-cheng;XU Zhen-yu(School of Mechanical Engineering,Tiangong University 300387,China;Tianjin Key Laboratory of Advanced Mechatronics Equipment Technology,Tiangong University,Tianjin 300387,China;Jiangu Jinlong Technology Co.,Ltd.,Jiangsu Suzhou 215500,China)

机构地区：[1]天津工业大学机械工程学院,天津300387 [2]天津工业大学天津市现代机电装备技术重点实验室,天津300387 [3]江苏金龙科技股份有限公司,江苏苏州215500

出　　处：《天津工业大学学报》2022年第1期81-88,共8页Journal of Tiangong University

基　　金：国家自然科学基金资助项目(52175243);天津工业大学天津市高等学校基本科研业务费资助项目(2019KJ012)。

摘　　要：为实现在旋铆加工过程中对零部件的高速、高精度抓取-摆放之目的,以多臂织机提综臂的自动化加工为背景,提出一种新型辅助旋铆并联机械手的动力学建模及控制策略。首先,介绍机器人机构的结构特征及自由度类型;其次,建立闭环矢量方程,得到了位置正逆解的解析表达式,进而通过求导,建立了速度映射模型;再次,基于第一类拉格朗日方法,建立了系统逆刚体动力学模型,得到关于末端执行器广义坐标的驱动力矩函数。在此基础上,设计具有PD补偿的任务空间计算力矩控制策略,并借助ADAMS与Simulink开展联合虚拟仿真,对控制参数进行整定,最终得到最优控制参数的参考值。仿真结果表明:在最大加速度为3 g时,跟踪轨迹与理论轨迹的y向误差小于0.3 mm,z向误差小于0.65 mm,控制效果良好,符合设计预期。Based on the automatic manufacturing of lifting arm of dobby loom,the dynamics modeling and control method of a novel assisting-riveting parallel manipulator are investigated in order to make the parts in process be taken and placed more accurately and efficiently.Firstly,the structural characters of manipulator and degrees of freedom(DOFs)of the parallel robot are introduced.Secondly,the closed-loop vector equation is established and the kinematic forward and inverse solutions are obtained by solving the constraint equations.The velocity formulas are derived from the derivatives of constraint equations.Thirdly,the inverse dynamics model is established by Lagrange method of the first kind,which expresses the functional relation between driving torque and the motions of end-effector.On this basis,a computed torque control strategy which contains PD compensation is adopted.Reference values about the best control parameters are adjusted by the integrated simulation of ADAMS and Simulink.The results indicate that the position errors between emulated and ideal trajectory are respectively less than 0.3 mm in y direction and 0.65 mm in z direction when maximum acceleration is 3 g,so the control effect is acceptable.

关 键 词：提综臂 辅助旋铆 并联机械手 拉格朗日方法 计算力矩控制 联合仿真 动力学建模 

分 类 号：TS105.4[轻工技术与工程—纺织工程] TH112[轻工技术与工程—纺织科学与工程]