执行器故障下的3-PRS并联机器人动力学分析  

Dynamics analysis on 3-PRS parallel robot with actuator fault

作　　者：黄俊杰[1] 王鹏霏 张博文 张秦磊 赵俊伟[1] HUANG Jun-jie;WANG Peng-fei;ZHANG Bo-wen;ZHANG Qin-lei;ZHAO Jun-wei(School of Mechanical and Power Engineering,Henan Polytechnic University,Jiaozuo 454003)

机构地区：[1]河南理工大学机械与动力工程学院,河南焦作454003

出　　处：《机械设计》2022年第11期7-16,共10页Journal of Machine Design

基　　金：河南省科技攻关计划(222102220008,212102210045);河南省高校基本科研业务费专项资金资助(NSFRF210339);校博士基金(B2016-24)。

摘　　要：为了研究执行器故障对3-PRS并联机器人运动影响及其关节力或力矩的变化情况,采用几何法与达朗贝尔原理法分析3-PRS并联机器人在执行器卡死状态下各关节内力的变化。首先,运用几何法建立3-PRS并联机器人的正向运动学模型,推导了运动构件的位置、速度和加速度运动方程;然后,基于达朗贝尔原理研究了执行器卡死故障状态下的3-PRS并联机器人运动构件的受力情况,建立3-PRS并联机器人的驱动力与运动构件内力间的数学表达式;最后,通过实例仿真分析,得到3-PRS并联机器人的驱动力与关节内力的变化曲线图。结果表明,在3-PRS并联机器人发生执行器卡死故障时,3条运动支链无法协调运动,在机器人球铰达到极限转角时关节内力和驱动力将发生突变,造成并联机构的破坏,从而影响正常运行。该研究为执行器故障下的并联机器人关节内力分析提供了一种可行的方法,也为并联机器人的冗余设计与可靠性分析奠定理论基础。In this article, with the focus on the influence of actuator fault on the motion of the 3-PRS parallel robot and the changes of joint force or torque, both the geometric method and the D’Alembert principle are used to analyze the ever-changing internal force of the 3-PRS parallel robot’s each joint under the state of actuator stuck. The forward kinematics model of the 3-PRS parallel robot is set up by means of the geometric method;the equations of position, velocity and acceleration of the moving components are deduced. Then, based on the D’Alembert principle, the force of the moving components of the 3-PRS parallel robot under the state of actuator stuck is explored, and the mathematical expression between the driving force of the 3-PRS parallel robot and the internal force of the moving components is worked out. Finally, the curve of the driving force and the internal force of the 3-PRS parallel robot’s joint is obtained with the help of simulation and analysis on a series of example. The results show that when the 3-PRS parallel robot is subject to actuator stuck, the three kinematic branches cannot coordinate the motion;the joint’s internal force and driving force will change when the robot ball hinge reaches the limit angle, which may cause damage of the parallel mechanism and affect its normal operation. This study provides a feasible method for analyzing the internal force of the parallel robot’s joint with actuator fault;it also lays a theoretical foundation for redundant design and reliability analysis of parallel robots.

关 键 词：3-PRS并联机构 执行器故障 几何法 达朗贝尔原理 关节内力 

分 类 号：TH113[机械工程—机械设计及理论]