冗余驱动精密定位并联机器人动力学优化  

Dynamic Optimization for Precision Positioning Parallel Manipulator With Redundant Actuation

作　　者：梁栋[1,2] 李世友[1] 畅博彦 张赵建[1] 刘军 LIANG Dong;LI Shiyou;CHANG Boyan;ZHANG Zhajan;LIU Jun(School of Mechanical Engineering,Tiangong University,Tianjin 300387,China;Tianjin Key Laboratory of Advanced Mechatronics Equipment Technology,Tianjin 300387,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

出　　处：《机械设计与研究》2022年第5期79-87,共9页Machine Design And Research

基　　金：国家自然科学基金资助项目(52175243,52005368);天津市教委科研计划项目(2019KJ012)。

摘　　要：设计了一种冗余驱动精密定位并联机器人。首先,构建一种十字交叉布置的4-PRR余驱动平面并联机器人初始构型;借助Kane方程建立系统多刚体动力学模型。在此基础上,采用前馈动力学方法,并借助Adams软件进行仿真校验。仿真结果表明:在给定轨迹下,X方向上的最大跟踪误差为0.0045m,Y方向上的最大跟踪误差为0.009m,最大均方根误差为0.0101m,验证了刚体动力学建模的正确性和精确度。在刚体动力学基础上,综合考虑机构加、减速运动过程和任务工作空间内的动态特性,定义两类动力学性能指标,构建出综合了尺寸和多种运动性能约束的动力学优化模型;通过单调性分析揭示尺度参数对性能指标的影响规律,进而借助模式搜索(PS)算法,获得设计变量的一组最优值,据此建造工程虚拟样机。优化实例表明:在任务工作空间内,当雅克比矩阵的全域最大奇异值的上界为1.7和全域最小奇异值的下界为0.17时,机构具有较好的动态性能,同时亦可综合保证机构的速度、精度、刚度和承载力性能。This paper designs a redundant actuation precision positioning parallel robot.Firstly,the initial configuration of a 4-PRR redundant actuation planar parallel robot with cross arrangement is constructed.The multibody dynamics model of the system is established using Kane equation.On this basis,the feed-forward dynamics method is used,and the Adams software is used for simulation.The simulation results show that under the given trajectory,the maximum tracking error in the X direction is 0.0045 m,the maximum tracking error in the Y direction is 0.009 m,and the maximum root mean squared error is 0.0101 m,which verifies the correctness and accuracy of rigid body dynamics modeling.On the basis of rigid body dynamics,considering the mechanism acceleration and deceleration motion process and the dynamic characteristics in the task workspace,two types of dynamic performance indicators are defined,and the dynamic optimization model is constructed with the constraints of size and multiple motion performance.The influence of scale parameters on the performance index is revealed through monotonicity analysis;and then a set of optimal values of design variables are obtained by pattern search(PS)algorithm;and the engineering virtual prototype is constructed accordingly.The optimization example shows that in the task workspace,when the upper bound of the global maximum singular value of the Jacobian matrix is 1.7 and the lower bound of the global minimum singular value is 0.17,the mechanism has good dynamic performance,and can also comprehensively ensure the speed,accuracy,stiffness and load bearing capacity of the mechanism.

关 键 词：精密定位 运动学 刚体动力学优化设计 

分 类 号：TH112[机械工程—机械设计及理论]