柔顺关节并联机器人动力学模型

Dynamic Model of Parallel Robot with Compliant Joints

首次采用初始弯曲梁的伪刚体模型建立了柔顺关节的双1R伪刚体模型,应用拉格朗日方程和虚拟切割法推导了柔顺关节并联机器人系统动力学方程。对方程进行了数值求解,结果显示在理想结果的基础上存在低幅高频振动,而简化模型结果却比较理想,这表明理论模型比简化模型更能反映柔顺关节并联机器人这种刚柔耦合系统的特征;同时理论轨迹与ADAMS-ANSYS联合仿真轨迹、实验轨迹进行对比,最大相对误差分别为2.41%和4.69%,验证了理论模型的正确性。

The double 1R pseudo-rigid body model of the compliant joint was put forward for the first time based on the pseudo-rigid-body model of the initial bending beam. And a dynamic equation of parallel robot system with compliant joints was proposed based on Lagrange method and the virtual cutting method. The dynamic response was obtained numerically. It is shown that there were low-amplitude highfrequency vibrations on the basis of the desired results in the theoretical results,while there was no apparent high-frequency vibration in the results of the simplified model. It indicated that the theoretical model was better than the simple model to reflect the characteristics of such rigid-flexible coupling system. Simultaneously,ADAMS-ANSYS united simulation model and the experimental system were accomplished. And the theoretical trajectory was compared with simulation and the experimental trajectory,respectively. The maximum relative errors were 2. 41% and 4. 69%,respectively,which proved the correctness and validity of the theoretical model.