六自由度并联平台惯性参数辨识方法  

Inertial Parameter Identification Method of Six-Degree-of-Freedom Parallel Platform

作　　者：李远慧[1] 程志林 田体先 LI Yuan-hui;CHENG Zhi-lin;TIAN Ti-xian(School of Mechanical Engineering,Wuhan University of Science and Technology,Hubei Wuhan 430081,China)

机构地区：[1]武汉科技大学机械自动化学院,湖北武汉430081

出　　处：《机械设计与制造》2024年第6期305-308,314,共5页Machinery Design & Manufacture

基　　金：武汉科技大学2020年国防预研项目—液压重载机械臂的高精度动力学控制策略研究(GF202004)。

摘　　要：惯性参数辨识对多自由度并联机构动力学控制至关重要,而传统的辨识方法存在操作复杂、精度差等问题。现提出一种基于动力学分析的六自由度并联平台惯性参数辨识方法。该方法以伺服电机的驱动电流为基础,采用Kane法对并联机构进行动力学分析,建立电流、转矩和推力之间的传递函数,在此基础上构建激励力与平台位姿的辨识方程,即可求解并联平台的惯性参数。基于MATLAB与ADAMS的六自由度并联平台参数辨识仿真分析结果表明,质量与转动惯量辨识误差分别小于2%与7%。与解体测量法和CAD法相比,本方法具有更快的辨识速度与更高的辨识精度,为并联平台动力学控制打下基础。Inertial parameter identification is very important for dynamic control of multi-degree-of-freedom parallel mecha-nism,but traditional identification methods have problems such as complicated operation and poor accuracy.A method for inertial parameter identification of a six-degree-of-freedom parallel platform based on dynamic analysis is proposed.This method is based on the drive current of the servo motor,and uses the Kane method to analyze the dynamics of the parallel mechanism,establishes the transfer function between the current,torque and thrust,and builds the identification equation of the excitation force and the platform pose on this basis.Then the inertial parameters of the parallel platform can be solved.The simulation analysis results of pa-rameter identification of the six-degree-of-freedom parallel platform based on MATLAB and ADAMS show that the identification errors of mass and moment of inertia are less than 2%and 7%,respectively.Compared with the disintegration measurement meth-od and the CAD method,this method has a faster identification speed and a higher identification accuracy,which lays the founda-tion for the dynamic control of the parallel platform.

关 键 词：并联平台 惯性参数 动力学分析 参数辨识 

分 类 号：TH16[机械工程—机械制造及自动化] TH3