一种人机交互执行器的动力学建模及重力补偿  

Dynamic Modeling and Gravity Compensation of a Human-Computer Interaction Actuator

作　　者：乔丹 高阳 倪仕全[1,2,3] 田大鹏 QIAO Dan;GAO Yang;NI Shi-quan;TIAN Da-peng(University of Chinese Academy of Sciences,Beijing,100049,China;Changchun Institute of Optics,Fine Mechanics and Physics,Chinese Academy of Sciences,Changchun Jilin 130033,China;Key laboratory of Airborne Optical Imaging and Measurement,Chinese Academy of Sciences,Changchun Jilin 130033,China)

机构地区：[1]中国科学院大学,北京100049 [2]中国科学院长春光学精密机械与物理研究所,吉林长春130033 [3]中国科学院航空光学成像与测量重点实验室,吉林长春130033

出　　处：《计算机仿真》2022年第7期327-331,390,共6页Computer Simulation

摘　　要：执行器是实现人机交互的核心设备。提出一种应用于人机交互的直线电机直驱6-PSS并联机构。机构具有多自由度、高动态、轻量化的特点。基于牛顿-欧拉法建立了其动力学模型。根据动力学模型设计了重力补偿控制器,采用弹性阻尼模型模拟人手操作力对重力补偿效果进行仿真验证。结果表明,建立的动力学模型能够准确描述该执行器的特性,模型误差小于3.55%。经过重力补偿后,操作机构所克服的重力由2.028N降低为1.148×10^(-8)N。动力学模型与重力补偿控制器为实现高精度控制系统设计奠定了基础。Actuator is an important part of human-computer interaction.High performance is necessary for degrees of freedom,dynamic,and weight.A 6-PSS parallel mechanism driven by linear motors is proposed.The dynamic model was established by the Newton-Euler method.Furthermore,a gravity compensation controller was designed according to the dynamic model.The elastic damping model was used to simulate the operating force of the hand to verify the effect of gravity compensation.And the simulation results show that the proposed dynamic model is correct.The model error is less than 3.55%.After gravity compensation,the operating force is reduced from 2.028 N to 1.148×10^(-8)N in a gravity environment.The dynamic model and gravity compensation controller are the basis for the design of high-precision control systems.

关 键 词：人机交互 并联机构 动力学建模 牛顿-欧拉方法 重力补偿 

分 类 号：TP113[自动化与计算机技术—控制理论与控制工程]