张彦斐,金 鹏,宫金良,刘 强.3-RPS并联机器人粘性摩擦工况动力学建模[J].农业机械学报,2018,49(9):374-381.
ZHANG Yanfei,JIN Peng,GONG Jinliang,LIU Qiang.Dynamic Modeling of 3-RPS Parallel Robot Considering Joint Friction[J].Transactions of the Chinese Society for Agricultural Machinery,2018,49(9):374-381.
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3-RPS并联机器人粘性摩擦工况动力学建模   [下载全文]
Dynamic Modeling of 3-RPS Parallel Robot Considering Joint Friction   [Download Pdf][in English]
投稿时间:2018-03-22  
DOI:10.6041/j.issn.1000-1298.2018.09.044
中文关键词:  3-RPS并联机器人  拉格朗日方程法  “库伦+粘性”摩擦模型  关节摩擦
基金项目:国家自然科学基金项目(61303006)、山东省优秀中青年科学家科研奖励基金项目(BS2012ZZ009)和淄博市校城融合项目(2017ZBXC151)
作者单位
张彦斐 山东理工大学 
金 鹏 山东理工大学 
宫金良 山东理工大学 
刘 强 山东理工大学 
中文摘要:以转动副轴线平行布置的3-RPS并联机器人为研究对象,提出一种基于拉格朗日算子修正的动力学建模方法。首先,采用矢量法建立系统运动学模型,基于拉格朗日方程法建立系统理想动力学模型。然后,将关节摩擦视为系统非保守力,基于“库伦+粘性”摩擦模型对关节摩擦所做的功精确量化处理。最后以摩擦所做负功的形式对拉格朗日算子进行修正,建立考虑全部关节摩擦的系统动力学模型。同时对所建立的考虑关节摩擦和忽略关节摩擦的动力学模型进行了仿真对比,结果表明,在一个仿真周期内,移动副1、2、3驱动力的相对误差分别为18.1%、12.6%、16.5%,试验结果为机器人控制系统的摩擦补偿提供了理论依据。
ZHANG Yanfei  JIN Peng  GONG Jinliang  LIU Qiang
Shandong University of Technology,Shandong University of Technology,Shandong University of Technology and Shandong University of Technology
Key Words:3-RPS parallel robot  Lagrange equation method  ‘Coulomb+viscosity’ friction model  joint frictions
Abstract:During the process of dynamic analysis of the robot, the researchers generally ignored or not fully considered the effect of joint frictions on the dynamic model of the robot. Although the process of mathematical deduction was simplified, the model was quite different from the practice. Taking a 3-RPS parallel robot of which the rotation axes were parallel arranged as the research object, a dynamic modeling method based on modified Lagrange operator was presented. Firstly, the DOF of the moving platform was studied based on the screw theory and the kinematics model of the system was established by vector method. By analyzing the kinetic energy and potential energy of the whole moving components, the ideal dynamic model of the parallel robot was set up based on Lagrange equations. After that, taking the single chain, telescopic rod and moving platform as the research objects, the constraining forces of all motion joints were solved based on the D′ Alemberts principle, the joint frictions were regarded as the non conservative forces of the system, based on the ‘Coulomb+viscous’ friction model, the work done by joint frictions was disposed accurately and quantitatively. Finally, the work done by joint frictions was always negative, some mechanical energy of the parallel robot was converted to other forms of energy and the mechanical energy of the system was reduced. Based on the ideal Lagrange operator,the Lagrange operator was amended based on the form of negative work done by frictions, and the system dynamic model considering all joint frictions was established. At the same time, the dynamic models with and without considering joint frictions were simulated and contrasted. In a simulation cycle, the results showed that the relative errors of the first, second and third driving forces were 18.1%, 12.6% and 16.5%, the results provided a theoretical basis for the frictional compensation of the robot control system and the analysis process also had reference significance for other parallel robots performance analysis and optimization.

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

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