基于混合插值规划的机械手腕关节用球形电机刚柔耦合系统  

Trajectory Planning for Rigid-flexible Coupling System of Spherical Actuator for Mechanical Wrist Joint Based on Mixed Polynomial Interpolation

作　　者：刘亚坤 过希文[1,2,3] 王群京[1,2,4] 廖先达 LIU Yakun;GUO Xiwen;WANG Qunjing;LIAO Xianda(School of Electrical Engineering and Automation,Anhui University,Hefei 230601;National Engineering Laboratory of Energy-Saving Motor&Control Technology,Anhui University,Hefei 230601;Anhui Key Laboratory of Power Quality,Ministry of Education,Anhui University,Hefei 230601;Anhui Collaborative Innovation Center of Industrial Energy-Saving and Power Quality Control,Anhui University,Hefei 230601)

机构地区：[1]安徽大学电气工程与自动化学院,合肥230601 [2]安徽大学高节能电机及控制技术国家地方联合实验室,合肥230601 [3]安徽大学安徽省工业节电与用电安全实验室,合肥230601 [4]安徽大学工业节电与电能质量控制协同创新中心,合肥230601

出　　处：《电气工程学报》2024年第4期139-148,共10页Journal of Electrical Engineering

基　　金：国家自然科学基金重点(51637001);安徽省自然科学基金面上(2008085ME156)资助项目。

摘　　要：球形电机能够实现空间三自由度运动,为实现无传动球形关节和智能顺应性设备提供了支持。但现有球形电机驱动机械手存在负载自重比小、直驱受限等问题,难以满足高精度、轻量化的轨迹规划需求。针对以上问题,设计了一种新颖的球形电机刚柔耦合系统,并提出了一种应用于系统的“三次多项式+改进的四次多项式”的混合多项式轨迹规划方法,并与单一的多项式轨迹规划方法进行比较。首先,基于Hamilton原理建立了机械手在随动坐标系下的偏微分动力学模型,并结合球形电机动力学模型构造刚柔耦合系统动力学模型。然后,采用改进的混合多项式轨迹规划方法实现了刚柔耦合系统的反演滑模跟踪控制。最后,搭建了机械手腕关节用球形电机刚柔耦合系统试验平台。仿真和试验结果表明,该方法能够避免了系统因角加速度设置不合理引起的波动以及间断问题,使得系统机械磨损更小、运动更加平稳,角速度的波动问题也得到了改善,验证了方案的有效性和准确性。Spherical actuators have been able to achieve spatial 3 degree of freedom(DOF)motion,which provides support for the realization of driveless spherical joints and intelligent compliance devices.But existing load self-respect than small spherical actuator driven manipulator,such as the limited direct driving problem,difficult to meet the demand of high precision,lightweight trajectory planning.To solve the above problems,a novel rigid-flexible coupling system(R-FCS)of spherical actuator is designed,and a hybrid polynomial trajectory planning method of“cubic polynomial+improved quartic polynomial”applied to the system is proposed,and compared with the single polynomial trajectory planning method.Firstly,the partial differential dynamics model of the manipulator in the following coordinate system is established based on Hamilton’s principle, and the dynamics model of the R-FCS is constructedbased on the dynamics model of the spherical actuator. Then, the improved hybrid polynomial trajectory planning method is used torealize the backstepping sliding mode tracking control of the R-FCS. Finally, the R-FCS test platform of spherical actuator formechanical wrist joint is built. The simulation and test results show that this method can avoid the fluctuation and discontinuitycaused by the unreasonable angular acceleration setting, make the mechanical wear of the system less, the movement is more stable,and the fluctuation of the angular velocity is improved, which verifies the effectiveness and accuracy of the scheme.

关 键 词：球形电机 刚柔耦合系统 轨迹规划 混合多项式插值 反演滑模控制 

分 类 号：TM351[电气工程—电机]