制孔末端执行器同步控制与误差分析  

Synchronous control and error analysis of hole-making end effector

作　　者：刘红军[1,2] 王菁 LIU Hongjun;WANG Jing(Aviation Manufacturing Technology Digital National Defense Key Laboratory,Shenyang Aerospace University,Shenyang 110135,Liaoning,China;School of Mechanical and Electrical Engineering,Shenyang Aerospace University,Shenyang 110135,Liaoning,China)

机构地区：[1]沈阳航空航天大学航空制造工艺数字化国防重点实验室,辽宁沈阳110135 [2]沈阳航空航天大学机电工程学院,辽宁沈阳110135

出　　处：《中国工程机械学报》2022年第4期342-347,共6页Chinese Journal of Construction Machinery

基　　金：国家自然科学基金资助项目(51875367);国防重点实验室开放基金项目(SHSY202006)。

摘　　要：基于并联机构的航空末端执行器在制孔的过程中,保证其运动控制精度是十分重要的,由于并联机构中存在多条运动支链,因此需要考虑它们的耦合关系和运动协调能力。以改进的3RRR并联机构作为研究对象,进行其驱动关节的同步控制研究。首先根据3个驱动关节转角建立动力学方程,并考虑到各个支链间存在耦合约束力,基于一种各个驱动关节同步控制器,将跟踪误差和同步误差的均方根作为性能指标,对改进3RRR并联机构进行控制实验。在实验中将增广比例微分(PD)控制器与驱动关节同步控制器进行对比,验证了驱动关节同步控制器的有效性,证明了考虑支链间协调性的控制器对改善并联机构的运动精度具有重要作用。It is necessary to ensure the motion control accuracy of aviation end effector based on parallel mechanism during drilling.Because there are many motion branches in parallel mechanism,it is necessary to consider their coupling relationship and motion coordination ability.Taking the improved 3RRR parallel mechanism as the research object,the synchronous control of its driving joint is studied.Firstly,the dynamic equations are established according to the rotation angles of the three driving joints,and considering the coupling constraints among the branches,based on an AJ-S synchronous controller of each joint,the control experiment of the improved 3RRR parallel mechanism is carried out with the root mean square of tracking error and synchronization error as the performance index.In the experiment,the augmented PD controller is compared with the synchronous controller of the driving joint,which verifies the effectiveness of the synchronous controller of the driving joint and proves that the controller considering the coordination between branches plays an important role in improving the motion accuracy of the parallel mechanism.

关 键 词：制孔末端执行器 并联机构 驱动关节 同步控制 

分 类 号：TH166[机械工程—机械制造及自动化] TG506[金属学及工艺—金属切削加工及机床]