Dynamic modeling of 3-DOF parallel mechanical leg and peak prediction of servo motor

RONG Yu; JIN Zhen-lin

doi:10.3788/OPE.20122009.1974

您当前的位置：

首页 >

文章列表页 >

Dynamic modeling of 3-DOF parallel mechanical leg and peak prediction of servo motor

Article | 更新时间：2020-08-12

- Dynamic modeling of 3-DOF parallel mechanical leg and peak prediction of servo motor
- Optics and Precision Engineering Vol. 20, Issue 9, Pages: 1974-1983(2012)
- 作者机构：
  
  1. 燕山大学机械工程学院,河北秦皇岛,066004
  2. 河北科技师范学院,河北秦皇岛,066004
- 作者简介：
- 基金信息：
- DOI：10.3788/OPE.20122009.1974
  CLC： TP242.6
- Received：15 March 2012，
  
  Revised：24 April 2012，
  
  Published：10 September 2012
- 稿件说明：
移动端阅览
荣誉, 金振林. 3-DOF并联机械腿动力学建模与伺服电机峰值预估[J]. 光学精密工程, 2012,20(9): 1974-1983

RONG Yu, JIN Zhen-lin. Dynamic modeling of 3-DOF parallel mechanical leg and peak prediction of servo motor[J]. Editorial Office of Optics and Precision Engineering, 2012,20(9): 1974-1983
荣誉, 金振林. 3-DOF并联机械腿动力学建模与伺服电机峰值预估[J]. 光学精密工程, 2012,20(9): 1974-1983 DOI： 10.3788/OPE.20122009.1974.

RONG Yu, JIN Zhen-lin. Dynamic modeling of 3-DOF parallel mechanical leg and peak prediction of servo motor[J]. Editorial Office of Optics and Precision Engineering, 2012,20(9): 1974-1983 DOI： 10.3788/OPE.20122009.1974.

摘要

提出了一种结构紧凑、承载能力大、转动解耦性好、运动速度和加速度大的3自由度并联机械腿。为了对其进行驱动参数分析

对机械腿进行了动力学建模

并基于动力学模型进行了伺服电机峰值预估。首先

分析了腿部机构各构件的运动参数

采用Lagrange方程建立了动力学模型

得出了机构驱动力的显式解;接着

在机构动力学模型的基础上

建立了伺服电机驱动转速和驱动力矩的峰值预估模型;最后

通过给定一组结构参数和运动轨迹函数

得出了伺服电机驱动转速和驱动力矩随时间变化曲线

得到了机构的动力学特性

并验证了峰值预估模型的正确性。计算表明

3个伺服电机驱动转速的峰值分别为

=19 r/s、

=17 r/s、

=27 r/s;3个伺服电机驱动力矩的峰值分别为

=5.8 Nm、

=3.1 Nm、

=4.4 Nm。

Abstract

A 3-DOF mechanical leg with compact structure

strong carrying capacity and the rotational motion in decoupled was proposed. To analyze the drive parameters of the 3-DOF parallel mechanical leg

a dynamic model was established and the peak of a servo motor was predicted based on the dynamic model. Firstly

by analyzing the motion parameters of the leg mechanism

the dynamic model was established based on the Lagrange equation

and the drive force acted on the mechanism was given. Then

based on the dynamic model

a peak prediction model of the servo motor for the drive speed and torque was defined. Finally

for a given motion equation and a set of structural parameters

the time curves of drive speed and torque were obtained

the dynamics of the mechanism was given and the peak prediction model was proved to be correct. Calculations show that the peaks of the drive speeds from three driving motors are 19

27 r/s for

and

and the peaks of the drive torque are 5.8

3.1

4.4 Nm for

and

respectively.

关键词

Keywords

references

韩雪冰,张景旭,赵金宇,等. 水平式光电望远镜目标定位误差的预测[J]. 光学精密工程, 2010, 18(7): 1595-1604. HAN X B, ZHANG J X, ZHAO J Y, et al.. Forecast for orientation errors of alt-alt photoelectric telescope [J]. Opt. Precision Eng., 2010, 18(7): 1595-1604. (in Chinese)[2] 赵飞,王森,邓超,等.兴隆1 m光学望远镜消杂散光系统[J]. 光学精密工程, 2010, 18(3): 514-520. ZHAO F, WANG S, DENG CH, et al.. Stray light control lens for Xing Long 1-meter optical telescope [J]. Opt. Precision Eng., 2010, 18(3): 514-520. (in Chinese)[3] 吕文华,贺晓雷,于贺军,等. 全自动太阳跟踪器的研制和应用[J]. 光学精密工程, 2008, 16(12): 2544-2550. LV W H, HE X L, YU H J, et al.. Development of full-automatic solar tracker and its applications [J]. Opt. Precision Eng., 2008, 16(12): 2544-2550. (in Chinese)[4] WALDRON K J. Configuration design of the ASV. Int [J]. J. of Robotics Research, 1984, 3(2): 37-48.[5] ELENA G, MARIA A J. The evolution of robotics research [J]. Robotics And Automation, 2007, 3(10): 90-102.[6] 崔冰艳. 仿生机器人并联关节/运动单元的性能分析与设计.秦皇岛:燕山大学, 2011: 83-125. CUI B Y. Performance Analysis and Design for Parallel Joint/Kinematical Unit of Bionic Robot. Qinhuangdao: Yanshan University, 2011: 83-125. (in Chinese)[7] 王炳一. 一种新型四足仿生机器人性能分析与仿真.秦皇岛:燕山大学, 2011: 55-70. WANG B Y. Simulation and Performance Analysis on New Type of Bionic Quadruped Robot. Qinhuangdao: Yanshan University, 2011: 55-70. (in Chinese)[8] 倪森. 基于2-UPS&UP并联结构腿的四足步行器设计.秦皇岛:燕山大学, 2011: 35-70. NI S. The Design of Quadruped Robot based on 2-UPS&UP Parallel Mechanism Leg. Qinhuangdao: Yanshan University, 2011: 35-70. (in Chinese)[9] 王洪波,齐政彦,胡正伟,等. 并联腿机构在四足/两足可重组步行机器人中的应用[J]. 机械工程学报, 2009,45(8): 24-30. WANG H B, QI ZH Y, HU ZH W, et al.. Application of parallel leg mechanisms in quadruped/biped Reconfigurable walking robot [J]. Journal of Mechanical Engineering, 2009, 45(8): 24-30. (in Chinese)[10] 王洪波,徐桂玲,张典范,等. 助老助残四足/两足可重构并联腿步行机器人运动学建模与仿真[J]. 燕山大学学报, 2010, 34(6): 508-515. WANG H B, XU G L, ZHANG D F, et al.. Kinematics modeling and simulation of quadruped/biped walking robot with parallel leg mechanism for the elderly and the disabled [J]. Journal of Yanshan University, 2010, 34(6): 508-515. (in Chinese)[11] 李娟,刘延杰,孙立宁,等. 新型2-DOF高加速定位平台的动态性能[J]. 光学精密工程, 2008, 16(5): 851-856. LI J, LIU Y J, SUN L N, et al.. Dynamic characteristics of a novel 2-DOF high acceleration positioning mechanism [J]. Opt. Precision Eng., 2008, 16(5): 851-856. (in Chinese)[12] 王跃灵,金振林,李研彪. 球面3-RRR并联机构动力学建模与鲁棒-自适应迭代学习控制 [J]. 机械工程学报, 2010,46(1): 68-73. WANG Y L, JIN ZH L, LI Y B. Dynamic modeling and robust-adaptive iterative learning control of 3-RRR spherical parallel mechanism [J]. Journal of Mechanical Engineering, 2010, 46(1): 68-73. (in Chinese)[13] STAMPER R E. A Three Degree of Freedom Parallel Manipulator with Only Translational Degrees of Freedom. Maryland: The University of Maryland, 1997: 83-97.[14] TSAI L W. Solving the inverse dynamics of a Stewart-Gough manipulator by the principle of virtual work [J]. ASME Journal of Mechanical Design, 2000(122): 3-9.[15] SAMAK S M, GUPTA K C. Parametric uncertainty on manipulators dynamics [J]. Mechanism and Machine Theory, 1998, 33(7): 945-956.[16] 黄真,赵永生,赵铁石. 高等空间机构学 [M].北京:高等教育出版社, 2006: 277-283. HUANG ZH, ZHAO Y SH, ZHAO T SH. Advanced Spatial Mechanism [M]. Beijing: Higher Education Press, 2006: 277-283. (in Chinese)[17] 曾达幸,黄真. 基于螺旋理论的转动解耦并联机构型综合[J]. 中国科学(E辑), 2011, 41(5): 585-591. ZENG D X, HUANG ZH. Type synthesis of the rotationaldecoupledparallel mechanism based on screwtheory [J]. Sci China Tech Sci, 2011, 41(5): 585-591.[18] 王振发. 分析力学 [M].北京:科学出版社, 2002: 46-47. WANG ZH F. Analytical mechanics [M]. Beijing: Science Press, 2002: 46-47. (in Chinese)

Views

837

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

Embedded position detection method and error compensation for servo motors

Mechanism design and dynamic analysis of large-scale two-dimensional deployable planar antenna

Research on dynamic characteristics of space camera focusing platform

Rigid-flexible coupling dynamics analysis based on deployable mechanism of LS-DYNA folding wing

Related Author

YUAN Binfei

XU Haojie

ZHENG Fangyan

Xiao-fei MA

Rong-qiang LIU

Hong-wei GUO

Ming-li LIU

Chuang SHI

Related Institution

Engineering Research Center of Mechanical Testing Technology and Equipment， Ministry of Education， Chongqing University of Technology

Xi'an Institute of Space Radio Technology

State Key Laboratory of Robotics and Systems， Harbin Institute of Technology

University of Chinses Academy of Sciences

Xi′an Institute of Optics and Precision Mechanics, Chineses Academy of Sciences, Xi′an

AI问答

Address：No.3888 Dong Nanhu Road, Changchun, Jilin, China Postal code：130033
Tel：0431-86176855 Email：gxjmgc@ciomp.ac.cn
Technical support is provided by Beijing Founder electronics co., LTD 吉ICP备11002662号-17 京公网安备11010802024621
It is recommended to read the content of this site in Chrome&IE9+. Please switch to extreme mode in browser 360.
Cookies We use cookies to help provide and enhance our service and tailor content. By continuing, you agree to the use of cookies.

⁰