一种3自由度柔索牵引并联机器人系统动力学参数辨识方法研究  

Study on Dynamic Parameters Identification Method of 3-DOF Cable-driven Parallel Robot System

作　　者：洪振宇[1] 林健 高轩 张志旭 HONG Zhenyu;LIN Jian;GAO Xuan;ZHANG Zhixu(School of Aeronautical Engineering,Civil Aviation University of China,Tianjin 300300,China)

机构地区：[1]中国民航大学航空工程学院,天津300300

出　　处：《机械科学与技术》2024年第11期1845-1854,共10页Mechanical Science and Technology for Aerospace Engineering

基　　金：中央高校基本科研业务费专项(210522003047);中国民航大学研究生科研创新项目(2021YJS033)。

摘　　要：针对柔索牵引并联机器人驱动单元结构复杂、强耦合的特性导致难以辨识机电耦合系统动力学参数的问题,通过整合驱动单元各耦合部件的转动惯量和黏性阻尼系数的方法,将伺服电机和卷筒机构作为一个整体研究对象,建立系统的动力学模型,构建可分离待辨识参数的辨识模型。以傅里叶级数优化末端执行器的激励轨迹,搭建试验平台,采集试验数据;基于加权最小二乘法拟合电机转矩数据,分步辨识出机器人系统的动力学参数。对比试验表明:该文提出的动力学参数辨识方法可行且辨识结果可靠。Aiming at the problem that it is difficult to identify the dynamic parameters of the electromechanical coupling system due to the complex structure and strong coupling characteristics of the drive unit of the cable-driven parallel robot,by integrating the moment of inertia and viscous damping coefficient of each coupling component of the drive unit,the servo motor and the winch mechanism are combined as a whole research object,and the dynamic model of the system is established,an identification model that can separate the parameters to be identified is built.The excitation trajectory of the end effector is optimized by using Fourier series,the test platform is built,and the test data is collected;the motor torque data is fitted by using the weighted least squares method,and the dynamic parameters of the robot system are identified by using the step-by-step identification method.The comparative experiments show that the present dynamic parameter identification method is feasible and the identification results are reliable.

关 键 词：柔索牵引并联机器人 机电耦合系统 转动惯量 黏性阻尼系数 分步辨识 

分 类 号：TG156[金属学及工艺—热处理]