基于串并混联的机械手运动数学模型建立与数值仿真  

Mathematical Model Establishment and Numerical Simulation of Manipulator Motion based on Series Parallel Hybrid Connection

作　　者：汪再如 WANG Zairu(Department of Mechanical and Electrical Engineering,Anhui Vocational College of Grain Engineering,Hefei 230011,China)

机构地区：[1]安徽粮食工程职业学院机电工程系,合肥230011

出　　处：《成都工业学院学报》2023年第5期29-33,48,共6页Journal of Chengdu Technological University

基　　金：安徽省高等学校自然科学研究项目(KJ2020A1139)。

摘　　要：串并混联机械手融合了串联机械手和并联机械手各自优势,在结构设计稳定性和运动轨迹控制方式上做出了优化与改良,但串并混联机械手的结构更复杂,同时控制难度也在增大。在仿真环境下,模拟了五自由度串并混联机械手的空间位姿变化,并构建空间范围内的运动数学模型。将串并混联机械手运动过程中的驱动向量进行分解,将其拆分成惯性矩阵、离心力耦合矩阵和重力矩阵的和,分别从不同的层面分析机械手运动的轨迹偏差,混联机械手绕多个空间轴旋转,最终姿态控制为机械手各关节旋转角速度的矢量和。数值仿真结果显示,机械手数学模型各参数设计合理,轨迹控制偏差和关节旋转角度控制偏差相对于传统控制方式更低。The series parallel hybrid manipulator combines the advantages of series manipulator and parallel manipulator,and the stability of structure design and motion trajectory control mode were optimized and improved,but the structure of serial parallel hybrid manipulator is more complex and the control difficulty is increased.In the simulation environment,the spatial pose changes of the 5-DOF serial parallel hybrid manipulator were simulated,and the motion mathematical model in the spatial range was constructed.The driving vector of the serial parallel hybrid manipulator was decomposed into the sum of inertia matrix,centrifugal force coupling matrix and gravity matrix,and the trajectory deviation of the manipulator was analyzed from different levels.The hybrid manipulator rotates around multiple spatial axes,and the final attitude control is the vector sum of angular velocity of each joint of the manipulator.Numerical simulation results show that the parameters of the manipulator mathematical model are designed reasonably,and the trajectory control deviation and joint rotation angle control deviation are lower than the traditional control method.

关 键 词：串并混联 运动数学模型 驱动向量 矢量和 控制偏差 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]