3-DOF并联机械腿动力学建模与伺服电机峰值预估

荣誉; 金振林

doi:10.3788/OPE.20122009.1974

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3-DOF并联机械腿动力学建模与伺服电机峰值预估

微纳技术与精密机械 | 更新时间：2020-08-12

- 3-DOF并联机械腿动力学建模与伺服电机峰值预估
- Dynamic modeling of 3-DOF parallel mechanical leg and peak prediction of servo motor
- 光学精密工程 2012年20卷第9期页码：1974-1983
- 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：
  
  机械系统与振动国家重点实验室开放课题基金资助项目(No. MSV-2012-10)();秦皇岛市科技支撑计划资助项目(No.201101A028)()
- DOI：10.3788/OPE.20122009.1974
  中图分类号： TP242.6
- 收稿日期：2012-03-15，
  
  修回日期：2012-04-24，
  
  纸质出版日期：2012-09-10
- 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

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