基于并联机构的Kane法动力学模型参数辨识技术研究

Research on parameter identification technology of parallel mechanism dynamics model based on Kane method

采用Kane方程建立了6-UPS并联机构的动力学模型,并根据机构的实际应用分析得到适用于参数辨识的简化动力学线性模型;按满足最小二乘方法要求的观测矩阵为满秩矩阵的应用条件,利用QR分解得出一组线性无关的基本辨识参数与相应的观测矩阵,并采用傅里叶级数进行辨识轨迹优化,提高参数辨识的抗干扰能力;最后通过MATLAB理论计算,验证了辨识方法的合理性与稳定性。

In this paper,the dynamic model of a 6-UPS parallel mechanism is established by Kane method. A simplified linear dynamic model for the parameter identification is obtained based on the practical application of the mechanism. In addition,a series of linear independent parameters and observation matrix,which should be a full rank,are derived by QR factorization. Then the identification path is planned using Fourier series in order to make the identification process free of singularity.Finally,the feasibility and stability of the proposed method is fully validated using MATLAB.