Z4型冗余驱动并联操作器的驱动特性研究  

Investigation on Driving Characteristics of a Z4 Redundantly Actuated Parallel Manipulator

作　　者：张俊[1] 吴成阳 方汉良 孙载超 王凯龙 汤腾飞 ZHANG Jun;WU Chengyang;FANG Hanliang;SUN Zaichao;WANG Kailong;TANG Tengfei(School of Mechanical Engineering and Automation,Fuzhou University,Fuzhou 350116;Faculty of Mechanical Engineering and Automation,Zhejiang Sci-Tech University,Hangzhou 310018)

机构地区：[1]福州大学机械工程及自动化学院,福州350116 [2]浙江理工大学机械工程学院,杭州310018

出　　处：《机械工程学报》2024年第7期66-78,共13页Journal of Mechanical Engineering

基　　金：国家自然科学基金(52375009);福建省杰出青年基金(2020J06010)资助项目。

摘　　要：并联操作器作为串-并联式混联加工装备的核心模块,其驱动特性对系统性能至关重要。以Z4型冗余驱动并联操作器为研究对象,提出一类驱动特性评价指标,并基于该类指标对其进行任务空间优选和伺服扭矩参数预估。首先,采用封闭矢量法求解操作器的运动学逆解,并构建无量纲雅可比矩阵以评估其运动学各向同性。其次,运用Lagrange法建立操作器的刚体动力学模型,并基于最小二范数法进行驱动力分配。接着,选取末端刀尖点为参考点,定义加速度、速度和动态切削力的驱动各向同性指标和驱动扭矩指标。最后,基于所提指标,搜索综合性能良好的任务空间,确定伺服扭矩参数,并通过实验验证所选电机满足使用要求。As the core module of serial-parallel hybrid machining equipment,the driving characteristics of parallel manipulators are crucial to overall system performance.A set of index is proposed to evaluate the driving characteristics of a Z4 redundantly actuated parallel manipulators.Based on the proposed indices,the task workspace is optimized and the servo torques are predicted.First,the inverse kinematics of a Z4 parallel manipulator is derived with closed-loop vector method to construct a nondimensional Jacobian matrix,which is used to evaluate kinematic isotropy.Second,a rigid-body dynamic model is established by using Lagrange method,based on which a minimum 2-norm is formulated to allocate driving forces between different limbs.By selecting the tooltip as a reference point,a set of isotropy index is defined in terms of acceleration,velocity,and dynamic cutting force as well as driving torque.Finally,the optimum task workspace and servo torques are determined based on the proposed indices.A simple experimental test is carried out to validate the selected servo-motors meet the serving requirements.

关 键 词：并联操作器 动力学建模 各向同性 驱动扭矩 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]