王晓光,马少宇,彭苗娇,林麒.绳牵引并联机器人弹性变形对动平台位姿精度的影响
Influence of elastic deformation on pose precision of moving platform for wire-driven parallel robot[J].计算力学学报,2016,33(3):306~312 |
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绳牵引并联机器人弹性变形对动平台位姿精度的影响
Influence of elastic deformation on pose precision of moving platform for wire-driven parallel robot |
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| 投稿时间：2015-10-26 修订日期：2015-12-22 |
| DOI：10.7511/jslx201603005 |
| 中文关键词: 绳牵引并联机器人 风洞试验 运动学正解 系统刚度 弹性变形 |
| 英文关键词:cable-driven parallel robot wind tunnel test kinematic positive solution system stiffness elastic deformation |
| 基金项目:国家自然科学基金(11472234);中央高校校长基金(2013121019)资助项目. |
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| 中文摘要: |
| 针对六自由度绳牵引并联机器人在风洞试验中的应用,分析了牵引绳弹性变形对动平台位姿精度的影响,其实质是运动学正解问题。鉴于牵引绳只能受拉力的特点,以及风洞试验的目的,须考虑系统的刚度和绳拉力的优化。基于系统运动学和动力学方程,推导了系统刚度矩阵;以提高系统主方向刚度为目标函数,对绳拉力进行了动态优化分布,以求解弹性变形;采用L-M数值方法进行运动学正解,量化分析了两种不同弹性模量的牵引绳对系统刚度的影响,以及弹性变形引起的动平台位姿误差。研究结果表明,以刚度增强为优化目标,有利于提高系统稳定性;采用弹性模量较大的牵引绳,可以有效提高系统的刚度,减小绳长变形引起的飞行器模型位姿误差,满足风洞试验的精度要求。上述结果可为后续机构的改善和系统高精度的力位混合控制提供依据和指导。 |
| 英文摘要: |
| Based on the application of 6-DOF wire-driven parallel robot in wind tunnel test,the influence of wires' elastic deformation on pose precision of moving platform was analyzed.Considering that the wires can only apply tensile forces and no compression,the system stiffness and dynamic optimization of wire tension should be studied.First,the system stiffness matrix was derived,and a target function with stiffness enhancement in the main directions was built to get the dynamic optimization of wire tension.Then,numerical method was used to acquire the system's kinematic positive solution,and the pose error of aircraft caused by deformation and influence of two different kinds of wire modulus on system stiffness was analyzed quantitatively.Research results indicate that taken the stiffness enhancement as the optimal target is good for the improvement of system stability.Moreover,using wires with larger elasticity modulus can improve the system stiffness effectively,and reduce the pose error of aircraft caused by wire extension.The above results provide basis and reference for the improvement of mechanisms and high-precision force-position hybrid control of system. |
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