基于LabVIEW的高速并联机器人动态特性试验分析

Experimental Analysis on Dynamic Characteristics of High-Speed Parallel Robot Based on LabVIEW

高速轻型并联机器人因其运动构件刚体位移与弹性变形具有耦合效应、铰链存在间隙、以及惯性和刚度随位形实时变化,使得对其系统动力学行为,在理论上进行精准描述变得极为困难。同时传统的动态测试方法又因所用仪器价格昂贵而限制了其应用。为了避开理论精确建模和传统的动态测试分析方法,本文设计了一种基于LabVIEW的虚拟频谱分析软件,功能包括数据采集、显示、时域分析、频域分析和数据存储等功能。最后,用上述虚拟仪器对高速并联机械手进行动态测试,验证了该虚拟仪器的有效性,并根据对该机器人施加虚约束前后对系统刚度的影响,提出了对其机械结构进行改良的措施。

The dynamic model of a high-speed parallel robot is very difficult to obtain because of the coupling of the rigid body displacement and flexible distortion, joints clearance, and stiffness and inertia varying with the pose. The traditional dynamic experimental method is limited because of its high cost. In order to avoid these shortcomings, a virtual instrument which has the function of data acquisition, displaying and saving, time domain analysis, frequency domain analysis and so on is developed. Finally, a series of experiments are done on the high-speed parallel robot, the correctness and validity of the virtual instrument are proved, and the scheme of structure modification is also brought forward by comparing the stiffness of the system before and after adding the virtual constraint.