数字液压缸驱动的六自由度并联机器人刚度特性研究  

Research on stiffness characteristics of 6-DOF parallel robot driven by digital hydraulic cylinder

作　　者：齐潘国[1] 迟帅 郑一顺 王顶柱 刘超 门荣华 黄其涛[2] QI Panguo;CHI Shuai;ZHENG Yishun;WANG Dingzhu;LIU Chao;MEN Ronghua;HUANG Qitao(School of Mechanical Engineering,Liaoning Technical University,Fuxin 123000,China;School of Mechanical Engineering,Harbin Institute of Technology,Harbin 150001,China)

机构地区：[1]辽宁工程技术大学机械工程学院,辽宁阜新123000 [2]哈尔滨工业大学机电工程学院,哈尔滨150001

出　　处：《兵器装备工程学报》2024年第6期215-223,共9页Journal of Ordnance Equipment Engineering

基　　金：国家自然科学基金项目(51105094);辽宁省教育厅项目(LJKZ0366)。

摘　　要：六自由度并联机器人采用数字液压缸驱动相比于采用电液伺服缸驱动,具有成本低、可靠性高、抗污能力强和结构简单等优点,为研究数字液压缸驱动的六自由度并联机器人刚度特性,首先建立数字液压缸的数学模型并推导出闭环刚度,然后基于全微分法建立六自由度并联机器人的误差传递模型,并结合数字液压缸的闭环刚度,推导出数字液压缸驱动的六自由度并联机器人的刚度矩阵,并分析了刚度矩阵的影响因素,建立AMESim仿真模型并进行仿真研究,揭示出并联机器人各自由度的刚度与正开口量、滚珠丝杠导程等系统固有参数以及与并联机器人位姿之间的关系,研究结果还表明,当并联机器人沿除升沉方向以外的其他方向运动时,升沉自由度和其他自由度之间存在耦合,且耦合刚度会随并联机器人位姿的变化而变化。该研究对数字液压缸驱动的六自由度并联机器人研制及应用有一定的理论价值和实际意义。Compared with the electro-hydraulic servo cylinder drive,the 6-DOF parallel robot with digital hydraulic cylinder drive has the advantages of low cost,high reliability,strong anti-pollution ability and simple structure.To study the stiffness characteristics of the 6-DOF parallel robot driven by the digital hydraulic cylinder,the mathematical model of the digital hydraulic cylinder is firstly established and the closed-loop stiffness is derived,and then the error transmission model of the 6-DOF parallel robot is established based on the total differential method.Based on the closed loop stiffness of the digital hydraulic cylinder,the stiffness matrix of the 6-DOF parallel robot driven by the digital hydraulic cylinder is derived and the influencing factors of the stiffness matrix are analyzed.AMESim simulation model is established and the simulation research is carried out.The relationship between the inherent parameters of the parallel robot,such as the stiffness of each degree of freedom,the positive opening,the ball screw lead,and the position and pose of the parallel robot is revealed.The results also show that when the parallel robot moves in the direction other than the heave direction,there is a coupling between the heave and other degrees of freedom,and the coupling stiffness varies with the pose of the parallel robot.The research has a certain theoretical value and practical significance for the development and application of the 6-DOF parallel robot driven by the digital hydraulic cylinder.

关 键 词：数字液压缸 六自由度并联机器人 刚度矩阵 AMESIM 误差模型 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]