4RRR冗余并联机械手的动力学分析与优化  

Dynamic Analysis and Optimization of a 4RRR Redundant Parallel Manipulator

作　　者：张丹[1] 齐炜胤 邵华 ZHANG Dan;QI Weiyin;SHAO Hua(Patent Examination Cooperation(Beijing)Center of the Patent Office,CNIPA,Beijing 100160,China;China Satellite Launch TT&C System Department,Beijing 100094,China;School of Mechanical Automation,Wuhan University of Science and Technology,Wuhan 430081,China)

机构地区：[1]国家知识产权局专利局专利审查协作北京中心,北京100160 [2]中国卫星发射测控系统部,北京100094 [3]武汉科技大学机械自动化学院,武汉430081

出　　处：《机械设计与研究》2024年第5期187-192,共6页Machine Design And Research

基　　金：国家自然科学基金资助项目(52075395)。

摘　　要：并联机构以其高刚度高负载等特性具有广泛的应用前景,而动力学分析与设计是并联机构开发中的重要问题。论文针对一种平面4RRR冗余度并联机械手的设计开发,为提高其动力学性能,提出采用广义惯性矩阵条件数倒数指标,进行了机械手的尺度参数优化,提升了机构动力学性能。首先建立了机构的位置逆解与速度逆解,推导出每个运动部件绕其旋转轴的偏速度和偏角速度矩阵,并利用牛顿-欧拉公式获得惯性力和惯性力矩,然后基于虚功原理建立了并联机械手的逆动力学模型。基于全局动力学条件数指标,揭示了广义惯性矩阵条件数在工作空间中的分布,对机械手的连杆长度进行了优化设计,以优化其动力学操作度。利用广义惯性椭球(GIE)和动力学操作度椭球(DME)对优化前机械手和改进机械手的动力学性能进行了评价,优化后的机械手与优化前机械手相比具有更好的动态可操纵性能。最后进行动力学仿真,结果表明,优化后机械手可有效减小驱动力。该方法也适用于其它冗余并联机械手的动力学性能评价与优化设计。This paper focuses on the dynamic analysis and optimization of a planner 4RRR redundant parallel manipulator.Based on the kinematics formula of the manipulator,the deflection velocity and deflection velocity matrix of each moving part around its rotational axis are derived,and the inertia force and inertia motion are obtained by the Newton-Euler formula.Based on a global dynamic condition index,which illuminates the distribution of the general inertial matrix’s condition number in the workspace,the link lengths of the manipulator are redesigned to optimize the dynamic manipulability.The dynamic performances of the original manipulator and the improved one are both evaluated by general inertial ellipsoid and dynamic manipulability ellipsoid,which show that the optimized manipulator has much better dynamic manipulability.Finally,the result of a dynamic simulation proves that the optimization is effective in reducing driving forces.

关 键 词：动力学操作度 动力学优化 并联机械手 冗余机械手 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]