高速平面并联机器人动态分析与实验

Dynamic Analysis and Experiment of High-Speed Planar Parallel Robots

基于弹性动力学和实验对高速轻型平面并联机器人的动态响应进行研究。首先,根据机构的几何和惯性非线性建立机构运动微分方程组,对机构的两个典型位形的动态响应进行分析;其次,建立了由3-RRR轻型并联机构和控制系统组成的实验装置,对理论分析进行了验证。结果表明,在位形2,理论分析和实验一致,即机构的残余振动很快衰减;在位形1,理论分析与实验两者不同,实验测量的动态响应为自激振动,而数值仿真得到衰减的残余振动。同时,结果也表明机构在不同位形有不同的动态响应。

The dynamic responses of a light-weight,high-speedplanar parallel robot are studied based on elastodynamics and experiments.First,according to the geometric and inertial nonlinearities of the mechanism,a set of linear ordinary differential equations of motion is built,and the dynamic responses of two typical configurations are analyzed.Second,an experimental setup that includes the test-bed mechanism of a 3-RRR light-weight parallel robot and a control system is developed.Finally,the experimentally measured residual vibrations of the manipulator are compared with the numerical results.It turns out that the experimental results agree with the numerical ones at configuration two,but differ at configuration one,where the experimentally measured dynamic response is self-excited vibrationand the simulation result is damped vibration.This shows that the robot has different dynamic responses at different configurations.