6-UPS并联机器人动力学参数辨识  

Dynamic parameter identification of a 6-UPS parallel robot

作　　者：沈耀辉 张学祥 王若冰 刘艳梨 李耀[1] 吴洪涛[1] Shen Yaohui;Zhang Xuexiang;Wang Ruobin;Liu Yanli;Li Yao;Wu Hongtao(College of Mechanical and Electrical Engineering,Nanjing University of Aeronautics and Astronautics,Jiangsu Nanjing,210016,China)

机构地区：[1]南京航空航天大学机电学院,江苏南京210016

出　　处：《机械设计与制造工程》2023年第3期20-26,共7页Machine Design and Manufacturing Engineering

基　　金：国家重点研发计划项目(2018YFC0309100);国家自然科学基金面上项目(51975277)。

摘　　要：为了获得精确的并联机器人动力学模型,以6-UPS并联机器人为研究对象进行了参数辨识。通过牛顿-欧拉法结合并联机构的对称性和各关节的重复性,简化了6-UPS并联机器人的动力学模型,并转换成了关于基参数集的线性形式。为了提高辨识精度,提出将机器人的惯性参数和摩擦参数分步辨识的策略并对比了不同摩擦模型的辨识效果。通过运行不同轨迹的辨识实验对比驱动力与预测力的误差大小来验证辨识效果,结果表明,惯性参数和摩擦参数分步辨识能提高辨识精度,Daemi-Heimann模型相比于库仑-黏滞摩擦模型的辨识结果精度更高。In order to obtain an accurate parallel robot dynamics model,a 6-UPS parallel robot is selected as the research object.The dynamics model of the 6-UPS parallel robot is simplified by Newton-Euler method combined with the symmetry of the parallel mechanism and the repeatability of each joint,and it is converted into a linear form of the base parameter set.The strategy of stepwise identification of the inertial parameters and friction parameters of the robot and different friction models are proposed to improve the identification accuracy.It verifies that the identification experiments of different trajectories compares the error of driving force and predictive force,shows that the identification of inertial parameters and friction parameters can improve the identification accuracy and the Daemi-Heimann model has higher accuracy than the Coulomb-viscous friction model.

关 键 词：6-UPS并联机器人 牛顿-欧拉法 动力学模型 参数辨识 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]