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1.哈尔滨工业大学 机电工程学院,黑龙江 哈尔滨 150001
2.北京空间飞行器总体设计部,北京 100094
3.北京卫星制造厂有限公司,北京 100094
E-mail: jgtao@hit.edu.cn
Received:21 April 2021,
Revised:28 May 2021,
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于金山,李潇,王国星等.面向在轨装配的冗余索并联机构变刚度控制[J].光学精密工程,
YU Jin-shan,LI Xiao,WANG Guo-xing,et al.Variable stiffness control of redundant cable-driven parallel mechanism for on-orbit assembly[J].Optics and Precision Engineering,
于金山,李潇,王国星等.面向在轨装配的冗余索并联机构变刚度控制[J].光学精密工程, DOI:10.37188/OPE..0001
YU Jin-shan,LI Xiao,WANG Guo-xing,et al.Variable stiffness control of redundant cable-driven parallel mechanism for on-orbit assembly[J].Optics and Precision Engineering, DOI:10.37188/OPE..0001
为了通过改变刚度的途径提高一种面向在轨装配的索并联机构的工作性能,提出了变刚度控制算法,并进行了仿真与实验验证。首先建立了所要研究的索并联机构的完整刚度模型。其次,分析了绳索张力分布对不同方向刚度的影响。然后,考虑影响绳索张力分布的矢量
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的安全边界,建立了变刚度控制算法,该算法消除了刚度模型中对整体影响较小的耦合刚度,提高了计算效率,并且可以通过分配权重的方式对不同方向的刚度进行不同优先级的控制。最后,通过仿真与实验的方式对变刚度控制算法的效果进行了验证。以旋拧操作为例,仿真结果表明:在对运动平台施加一定扰动力时,采用变刚度控制算法求解出的索力分布可以使薄弱方向的振动降低35%,样机实验结果表明,在对索并联机构样机进行刚度控制后,刚度的测量值与理论值具有较强的拟合性,误差分别为16.3%和14.6%。变刚度控制算法可以通过改变索并联机构的刚度的方式提高其工作性能,具有较强的实用性,并且可以用于不同类型的冗余索并联机构。
In order to improve the performance of a cable-driven parallel mechanism(CDPM) for on-orbit assembly through changing its stiffness, a variable stiffness control algorithm is proposed. The specific effect was verified by simulation and experiment. First, the complete stiffness model of the CDPM is established. Secondly, the influence of tension distribution on the stiffness in different directions is analyzed and studied. Then, considering the safety margin of the vector
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which affects the tension distribution, a variable stiffness control algorithm for the CDPM is established. The algorithm eliminates the coupling stiffness that has a small effect on the overall stiffness in the stiffness model, improves the calculation efficiency, and can assign weights to control the stiffness in different directions with different priority. Finally, the effect of the variable stiffness control algorithm is verified through simulation and experiment. Taking the screwing operation as an example, the simulation results show that when disturbing force is applied to the moving platform, the tension distribution obtained by the variable stiffness control algorithm can reduce the vibration in the weak direction by 35%, the prototype experiment results show that after the stiffness control of the CDPM prototype, the measured value of the stiffness has a strong fit with the theoretical value, and the errors are 16.3% and 14.6%, respectively. The proposed variable stiffness control algorithm can improve the performance of the CDPM by changing the stiffness of it. It has strong practicability and can be used for different types of redundant CDPM..
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